Résumé
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.