Robust Control of an Unmanned Underwater Vehicles with Parametric Uncertainty

Ismaila Tijani, Agus Budiyono


The complex dynamics coupled with operational condition have made an unmanned underwater vehicle susceptible to perturbation due to parametric uncertainty. This has necessitated the need for a robust control technique capable of not only guarantee robustness to unstructured uncertainty, but also account for inherent parametric uncertainty in the system dynamics. This paper presents an optimized based extended H-infinity loop-shaping design procedure for the synthesis of a control system capable of addressing the problem of parametric perturbations in the unmanned underwater vehicle dynamics. The design problem formulation and procedure, together with performance evaluation are highlighted in the paper. Validation of the robustness is examined explicitly using structured singular value analysis.


Unmanned Underwater vehicle; Robust Control; Extended H-infinity; Parametric Uncertainty; Multiobjectives Differential Evolution;

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