Скачать или смотреть 17. Full SMC Controller Integration for AUV | Disturbance Observer & Infinity Path Mission

Final Bonus Episode – Capstone Project

In this special bonus episode, we bring everything together and design a complete Sliding Mode Controller (SMC) with Disturbance Observer (DOB) for an Autonomous Underwater Vehicle (AUV).

💡 What we cover in this episode:

Building a full mission simulation for an AUV in MATLAB
Following an infinity-shaped reference path
Applying realistic disturbances (sinusoidal + noisy forces)
Comparing Basic SMC vs. DOB-SMC
Demonstrating how the disturbance observer successfully estimates and cancels external forces
Final reflections on robustness, accuracy, and real-world readiness

This episode acts as a capstone project to conclude the playlist — combining AUV modeling, robust control, sliding mode design, and observer-based compensation into one unified system.

🚀 By the end, you will have a working MATLAB simulation of a robust DOB-SMC controller, and a clear vision of how to extend your knowledge towards fuzzy logic, adaptive control, and intelligent SMC for real-world applications.

📌 Don’t miss this final step — it’s where theory meets practice in a full system test!

👉 Full MATLAB codes available here: [ https://github.com/safa-bazrafshan/AU... ]