HAL Id: lirmm-01567465 https://hal-lirmm.ccsd.cnrs.fr/lirmm-01567465 Submitted on 10 Sep 2019 HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci- entifc research documents, whether they are pub- lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la difusion de documents scientifques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Antonio Torres Munoz, Rogelio Lozano To cite this version: Eduardo Campos Mercado, Ahmed Chemori, Vincent Creuze, Jorge Antonio Torres Munoz, Rogelio Lozano. Saturation based nonlinear depth and yaw control of underwater vehicles with stability analysis and real-time experiments. Mechatronics, Elsevier, 2017, 45, pp.49-59. 10.1016/j.mechatronics.2017.05.004. lirmm-01567465