https://publicaciones.amca.mx/index.php/cnca2022/issue/feedMemorias de Congreso Nacional de Control Automático 20222023-02-26T06:46:54+00:00Open Journal Systemshttps://publicaciones.amca.mx/index.php/cnca2022/article/view/4Adaptive Integral Terminal Sliding Mode Guidance and Control for a UUV Under Perturbations2023-02-26T06:09:32+00:00Andres E. Sanchez-Calvosanchez@me.comAlejandro Gonzalez-Garciaalejando@me.comV. Sebastian Martinez-Perezsebastian@me.comHerman Castañedaherman@me.com<p>This article addresses robust guidance and control for a fully-actuated underwater autonomous vehicle under external perturbations. A cascade strategy based on an adaptive integral terminal sliding mode controller is designed. Such approach ensures practical finitetime convergence of the tracking errors and robustness against disturbances with unknown boundaries. In addition, it does not overestimate the control gain, reducing chattering. The guidance law forces the vehicle to track desired trajectories, providing velocity and heading references for all degrees of freedom. Then, a low-level control ensures convergence of all the state variables. Finally, simulations results carried on a full model subject to water currents prove the feasibility and advantages of the proposed control scheme.</p>2023-02-26T00:00:00+00:00Derechos de autor 2023 Memorias de Congreso Nacional de Control Automático 2022