Robust Controller Design for AUV Subsystem Using µ Synthesis

Abstract

The paper considers the problem of synthesizing the pitch control system of an autonomous underwater vehicle (AUV), considering the uncertainty of its parameters and underwater disturbances. The µ-synthesis using D-K iteration is applied to solve the problem. For the subsequent implementation of the controller in practice, a method for reducing its order based on the Hankel norm approximation is applied. The proposed approach is tested on the mathematical model of the MAYA AUV with the parameters deviating from the nominal values. The simulation result shows that the proposed robust control scheme effectively compensates for the parametric uncertainty and underwater disturbances.