“…The aforementioned controllers have been implemented in order to accomplish tasks as depth control under continuous waves conditions [ 27 , 28 , 29 , 30 ] or the path following adversarial environmental conditions [ 31 ]. Nonetheless, robust control techniques have been adopted in order to improve the behavior of the system, as in [ 32 , 33 , 34 ], where the corresponding authors show the effectiveness of the Sliding Mode Control (SMC) applied over these vehicles, extending the capabilities of the theory to the observation domain [ 35 ]. Moreover, some techniques [ 36 ] consider an iterative identification method to estimate the parameters of the system and the design of the controller at the same time.…”