Abstract
Underwater autonomous vehicles (AUVs) missions face several external disturbances, such as random ocean currents, changes in the water’s salinity, etc. Therefore, the analysis and design of robust controllers represent a real challenge due to the highly nonlinear AUVs dynamics, parameter uncertainties, and external disturbances. In this note, in the realm of the most used controllers in commercial vehicles, a PD controller is analyzed together with a Sliding Modes-ESO disturbance observer to enhance the closed-loop scheme’s robustness. The stability analysis is carried out by Lyapunov’s arguments. Finally, the efficiency of the proposed control/observer scheme is evaluated in real-time experiments.
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