Résumé
The difficulty of accurately modeling a mobile system traveling in a complex environment such the ocean means investigating new control solutions which guarantees robustness against parameter uncertainty. This paper proposes a diving-control design based on Lyapunov theory and backstepping techniques. Two different methods are proposed, based on an adaptive and on a switching scheme to meet robustness requirements. The results are formally shown, and simulations illustrate the performances of the solutions proposed.