Preliminary Analysis of Control Design for Long-Endurance AUVs

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Motivated by the needs of long-endurance autonomous underwater vehicles, we seek to better understand trade-offs associated with control systems that seek to reduce energy consumption. In this paper we demonstrate a technique for controller design for an autonomous underwater vehicle (AUV). We examine the well-known design requirements, such as reference tracking performance and agility (e.g, step-response characteristics) in the context of energy required by control surface servos. The results of our analysis are used to inform an H∞ controller synthesis problem with the objective of balancing these tradeoffs while reducing energy consumption.