Robust Control of Underwater Vehicles

Adaptive sliding mode control for unmanned underwater vehicles.

Unmanned Underwater Vehicles (UUVs) are disturbed by the environmental conditions, particularly from underwater currents. Likewise, mathematical model inaccuracies and unknown dynamics create an uncertain system. Hence, robust control approaches able to counteract such perturbations are relevant.

2022

  1. RobustUUV.gif
    Adaptive Non-Singular Terminal Sliding Mode Tracking Control of an UUV Against Disturbances
    V Sebastian Martinez-Perez, Andres E Sanchez-Calvo, Alejandro Gonzalez-Garcia, and 1 more author
    IFAC-PapersOnLine, 2022
    DOI Video
  2. Adaptive Integral Terminal Sliding Mode Guidance and Control for a UUV Under Perturbations
    Andres E Sanchez-Calvo, V Sebastian Martinez-Perez, Alejandro Gonzalez-Garcia, and 1 more author
    In 2022 Congreso Nacional de Control Automático, 2022