Continuous–Discrete Observation-Based Robust Tracking Control of Underwater Vehicles: Design, Stability Analysis, and Experiments

This study addresses the tracking control problem of underwater vehicles using a new robust observation-based scheme. The advantages integral sign error (RISE) control, as well saturation function and well-known super-twisting algorithm, have been exploited to design saturated RISE (S+RISE) However, proposed S+RISE method requires continuous state measurements. To resolve this issue, continuous–discrete time observer (CDO) is proposed, which works in tandem with controller. resulting scheme known CDO-S+RISE. In addition estimating disturbances, CDO solves multiple sampling rates sensors. demonstrate asymptotic stability nonobservation-based closed-loop dynamics scheme, Lyapunov arguments are proposed. Then, exponential unperturbed closed loop CDO, controller, studied based on Lyapunov–Krasovskii concept. verify performance recovery overall system CDO-S+RISE (controlled by scheme), an invariant set $\mathcal {A}_{\mathbb {R}}$ determined composite functional, guarantees convergence errors origin. Several real-time experimental scenarios were conducted Leonard vehicle prototype validate efficiency robustness