https://publicaciones.amca.mx/index.php/cnca2022 Memorias del 2022 Congreso Nacional de Control Automático es-ES Memorias de Congreso Nacional de Control Automático 2022 2594-2492 https://publicaciones.amca.mx/index.php/cnca2022/article/view/4 <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> Andres E. Sanchez-Calvo Alejandro Gonzalez-Garcia V. Sebastian Martinez-Perez Herman Castañeda Derechos de autor 2023 Memorias de Congreso Nacional de Control Automático 2022 2023-02-26 2023-02-26 5 1 1175 180