Robust Autopilot Design for Unmanned Underwater Vehicle based on H∞ mixed sensitivity

摘要

As the complexity of marine environment and the existence of uncertain factors along with Unmanned Underwater Vehicle (UUV) dynamics itself bringing many nonlinear problems, it is difficult to control the navigation in accordance with a predetermined trajectory. Based on the UUV dynamics analysis and system modeling, this paper decoupled its control system into three sub-control systems, designed robust autopilot using H∞ mixed sensitivity control algorithm to generate the low-order controller to achieve independent control of three degrees of freedom. Eventually, the underwater navigation simulation results show that the proposed method can provide better control performance and the method is feasible and high efficiency in actual applications.