S.Arash Moghadam - Islamic Azad University Of Damavand, Tehran, Iran
A Kashaninia - Malekashtar University, Tehran, Iran.

In this article, a Lyapunov based guidance is discussed to obtain reference trajectory for an Autonomous Underwater Vehicle (AUV) with the purpose of tracking and reaching to a presumed target with a desired final angle. To meet this purpose, a controller should be used for the motion equations of the AUV in order to track the reference trajectories, where the robust sliding mode method is used for designing of the controller due to the existing uncertainty of the model. Eventually, the results derived from simulation displayed authenticity of the both guidance and control method

Autonomous Underwater Vehicle (AUV), Degree of freedom (DOF),Hydrodynamic, Lyapunov function, Sliding mode control (SMC)