Reduce control signal variations, router's underwater remotely Operated Vehicles using Model-Free High Order- sliding mode control

Control of the router's underwater remotely Operated Vehicles (ROVs) is challenging due to its highly nonlinear nature, strong coupling among variables, and unknown environment of the underwater in terms of underwater currents.The classic sliding mode controller is a popular control method in nonlinear dynamic tracking systems. However, one of the problems with this control method is chattering in its control signal. Therefore, in this study, to reduce the chattering of the control signal applied to the trusters, a Model-Free High Order- sliding mode control is proposed. in the end, the performance of the proposed controller simulated on an underwater robot. In addition, the outcomes compare with the performance of the PID controller and the traditional sliding mode controller, which results show the superiority of the proposed controller.