Norm-Based Robust Pitch Channel Control of an Autonomous Underwater Vehicle

An uncertain ocean environment demands robust control to manoeuvre autonomous underwater vehicle (AUV) to achieve the control objectives. The desired depth of the vehicle can be achieved by implementing an efficient pitch angle control law to satisfy the longitudinal motion of AUV. In this paper, a linearized pitch channel model of MAYA AUV is used. A norm-based robust controller is designed to achieve the design requirements in the presence of parametric uncertainty and disturbance. The efficacy and feasibility of control laws demonstrated through a computational tool MATLAB.