Robust control of an underactuated AUV

Wilson Turpo Zúñiga, Décio Crisol Donha, João L.Dozzi Dantas, Lucas Machado De Oliveira, Ettore A. De Barros

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations


This paper presents the experimental results obtained in the Unmanned Vehicles Laboratory (LVNT) of University of São Paulo working with the guidance and control of the underactuated Autonomous Underwater Vehicle (AUV) Pirajuba. In former works, in addition to the identification of a mathematical model, H∞ techniques were used to synthesize and simulate a controller for the vehicle, subjected to modelling uncertainties, disturbances and measurement noises. In this work, experimental results are presented to validate the proposed approaches. Moreover, a centralized multivariable controller is investigated, seeking to improve the performance of the vehicle in manoeuvres in six-degree-of-freedom. Results obtained ratify the good performance of the H∞ approach in complex control systems involving important nonlinearities and uncertainties.

Original languageEnglish
Title of host publication9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 - Proceedings
PublisherIFAC Secretariat
Number of pages6
EditionPART 1
ISBN (Print)9783902823601
StatePublished - 2012
Externally publishedYes
Event9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 - Arenzano, Italy
Duration: 19 Sep 201221 Sep 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


Conference9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012

Bibliographical note

Funding Information:
⋆ This work is funded by the Brazilian Council, FAPESP, with research grant numbers: 2006/06685-1, 2009/10205-3 and 2010/08628-0.


  • H∞
  • Robust Control
  • Underactuated AUV


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