Nonlinear H∞ Control for an Autonomous Underwater Vehicle in the Vertical Plane∗

In this paper, a nonlinear path following control algorithm has been illustrated for Autonomous Underwater Vehicle (AUV) in the Vertical Plane. The nonlinear H∞ state feedback control technique has been adopted to track the desired path in the dive plane. The design of the control algorithm is obtained by solving a Hamilton-Jacobi-Isaacs inequality with a Taylor's series approach for the control of AUV. The developed algorithm provides a significant performance in robustness and internal stability by attenuating the disturbance. The performance of the developed control scheme has been reported by carrying out the simulation using MATLAB/Simulink environment.