Entire operating envelope H-infinity design for an unmanned underwater vehicle

This paper presents results from an investigation into advanced unmanned underwater vehicle (UUV) control functionality to meet mission trajectory requirements. The study´s overall aim was to address the multivariable control design strategy across the entire operating envelope for a multi-configured UUV and optimise the transfer between controllers. The control strategies investigated are a function of the performance requirements and limitations of a generic UUV fitted with a side scan and sector scan sonar. The control studies investigate the implementation of loop shaping controllers at different points in the operating envelope and the use of different controller strategies, while the use of a switching strategy is addressed for the bumpless transfer between different control strategies. This paper discusses some results from controller design studies when the emphasis has been placed on investigating real world requirements for multiple actuators and the associated vehicle modelling aspects