Simulation of Robust H∞ Controller for AUV Depth Control

A motion control strategy for an autonomous underwater vehicle(AUV)depth control in vertical plane based on a robust H∞controller was proposed.The system mathematical model of AUV motion in vertical plane was established,and was linearized on a specified operating point.A robust H∞controller was designed based on robust H∞control theory.The simulation results show that the proposed robust H∞controller is effective to alleviate or e- liminate the effects of modeling uncertainty,severe non-linear dynamics and some disturbances.The system pres- ents good performances and the robustness of the system is good enough.