Depth control of an autonomous underwater vehicle using H∞ controller

Abstract

This paper presents a design of depth control system for an AUV(Autonomous Underwater Vehicle) using H∞ control technique. The change of hydrodynamics derivative over the operating speed range of the AUV is considered as uncertainty of the system. A controller robust to the uncertainty is designed applying H∞ control synthesis. Control law which provides robust stability and performance is determined through the mixed sensitivity approach. The computer simulation shows that the proposed controller is efficient for the depth control system for AUV.