[FEATURE]: Implement an adaptive SMC algorithm

[evan-palmer]

Feature Type

Adding new functionality to the project

Problem Description

Traditional SMC algorithms, like the one currently implemented, can be quite challenging to tune. The performance of the system will also vary according to the quality of the controller tuning. During our experiments with this controller, we saw, that despite robustness to model uncertainty, changes in the model required re-tuning the gains.

Feature Description

Implement an adaptive SMC algorithm such as that described by Salgado-Jiménez ¹. This controller has also been implemented in UUV Sim ².

Alternative Solutions

N/A

Additional Context

No response

Footnotes

1. https://cdn.intechopen.com/pdfs/15221.pdf ↩

2. https://uuvsimulator.github.io/packages/uuv_simulator/intro/ ↩

[evan-palmer]

After some discussions with folks at ICRA, it sounds like adaptive terminal SMC works quite nicely. I may look into that for this issue