Résumé
Hybrid Aerial-Underwater Vehicles (HAUVs) represent an advanced type of robotic systems capable to operate across multiple environments. This feature gives them enhanced versatility in movement capabilities, allowing a wide range of potential applications. However, these vehicles also pose significant challenges, including unmodeled dynamics, parametric uncertainties arising from variations in environmental density, and external disturbances, among others. This paper presents a novel adaptive gains Super Twisting Algorithm (STA) to address the tracking control problem. The proposed adaptive controller effectively manages the transition between operating environments without relying on techniques such as Hierarchical or Gain-Scheduling-based controllers, which necessitate prior knowledge of operational gains for each medium. Finally, numerical simulations are provided to validate the performance of the proposed controller.