Path tracking control for an autonomous underwater vehicle

This paper shows the simulation results of a mathematical model of an autonomous underwater vehicle (AUV), represented by its kinematic and dynamic models, tracking an helical path at a depth of 4-10 meters. The vehicle used for the design of the controller is presented as a platform with six degrees of freedom, which is composed of six propulsion systems. The design of the H_∞ controller is obtained by applying the classical technique of robust control in the linearized system obtained by the feedback linearization technique, where the outcome of the controller implementation can be compared to a simple technique of PD controller, noting that the designed controller acts on the trajectory in order to minimize its tracking error.