H∞ robust control design for coupled Ciscrea AUV model

Abstract

Objective The multi input multi output (MIMO) robust controller was proposed to realize the trajectory tracking and the yaw control for the four-DoF Ciscrea Autonomous Underwater Vehicle (AUV) model. Methods The parameter uncertainty of the inertia matrix and quadratic damping affection was formulated as an uncertain structure by the perturbation method, the general system was derived by linear fraction transformation (LFT). The H-infinity synthesis method was proposed to solve the MIMO robust controller for AUV general system, and the structure singular value analysis method was applied to compute the robust stability margin. To validate the robust yaw controller, the paper simulated AUV trajectory tracking as well as the yaw control scenario with MATLAB. The tracking performance was compared between interference and non-interference control condition. Results The upper bound and lower bound of the structure singular value was analyzed for the stable robust controller, and the elimination of the perturbation on AUV output showed effective anti-jamming performance. Conclusion The proposed control method is available for parameter uncertainty and nonlinearity issues on the AUV model. This paper provides a specific application for AUV motion and attitude control problem in the complicated ocean environment.