Gamero Ramirez, Emmanuel Isai (CNRS LIRMM), Chemori, Ahmed (LIRMM, university of Montpellier, CNRS), Torres Muñoz, J.A. (CINVESTAV-IPN), Guerrero, Jesus (Tecnológico Nacional de México/ ITS de Irapuato), Creuze, Vincent (CNRS / University of Montpellier)

Robust Adaptive STA-Based Tracking Control of AUVs with Real-Time Experiments

Scheduled for presentation during the Regular Session "Underwater Robots" (FrAT4), Friday, July 18, 2025, 11:00−11:20, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

The complex nonlinear dynamics, significant parametric uncertainties, and external disturbances, inherent to underwater vehicles require robust control schemes to ensure reliable operations. This paper introduces a novel adaptive gains variant of the Super-Twisting Algorithm (STA) and compares its performance with two existing adaptive STA-based controllers. Real-time experiments are proposed to demonstrate that the proposed controller enhances robustness toward external disturbances and parametric uncertainties, achieving better tracking performance. The paper also highlights the potential of robust controllers for underwater vehicle applications.