Résumé
In this study, we developed a saturated super-twisting algorithm for autonomous underwater vehicles to address the trajectory tracking problem. On the basis of Lyapunov arguments, we performed a stability analysis of the resulting closed-loop system under the proposed controller, considering the MIMO system dynamics, parametric uncertainties, and external disturbances. Finally, we conducted several real-time experiments to demonstrate the effectiveness and robustness of the proposed control solution as compared to the traditional super-twisting algorithm.