Robust Adaptive Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

The unpredictable nature of the marine environment, combined with nonlinear dynamics and parameter uncertainty underwater vehicles makes control system design for such a challenging task. Based on these issues, hybridizing robustness adaptation in could result more successful missions. This article proposes robust adaptive (RAC) scheme trajectory tracking an autonomous vehicle. proposed RAC has been developed by exploiting advantages sliding mode controller law. Lyapunov arguments are to prove exponential stability finite-time convergence resulting closed-loop error invariant set, S (very close zero). Scenarios-based real-time experiments conducted Leonard ROV prototype demonstrate effectiveness approach. performance indices (root mean square error, integral absolute error) comparative analysis recent from literature confirm interest applications.