Robust design framework for an underwater vehicle motion controller

In this paper, an applicative example of the loop shaping control method based on H_∞ optimization is presented. The approach is used to synthesize a dynamic output feedback controller for the underwater robot Phantom 500 subject to disturbances, actuators saturation and plant uncertainties. Numerical experiments show that the reduced order controller ensures satisfactory closed loop performances and robustness. The validation of the heading controller at sea is in progress.