Mu-Synthesis Depth Controller Design for a Small Autonomous Underwater Vehicle

摘要

This paper presents a new depth controller designed by the mu-synthesis method for a small autonomous underwater vehicle (AUV). The controller is based on the equations of motion, developed for the REMUS AUV. Its stability and performance on a nonlinear, three degree of freedom vehicle model is tested by Matlab/Simulink simulation. The controller design including parametric uncertainties is based on the following assumptions: instantaneous fin response, no underwater currents and no sensor noise. The performance of the mu-controller is compared with that of a simple PD depth controller.