The robust H-infinity control of UUV with Riccati equation solution interpolation

The main purpose of this study was to develop a method for a robust H-infinity control of an unmanned underwater vehicle (UUV) based on the interpolation of the Riccati equation solution. This method combined the robust H-infinity control theory and results of the interpolation of the Riccati equation solution. The UUV's velocity, heading, and depth controllers were derived and obtained. A simulation and experiment in a lake were conducted to verify the effectiveness of the developed controllers. Results indicated that the controllers were feasible, effective, and robust in managing the control of a UUV.