Robust control of an underactuated AUV

Juan C. Cutipa-Luque, Décio Crisol Donha, João L. Dozzi Dantas, Lucas Machado de Oliveira, Ettore A. de Barros

Research output: Contribution to journalConference Contributionpeer-review

8 Citations (Scopus)


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
Pages (from-to)138-143
Number of pages6
JournalIFAC Proceedings Volumes
Issue number27
Publication statusPublished - 30 Sept 2012
Event9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 - Arenzano, Italy
Duration: 19 Sept 201221 Sept 2012


  • H∞
  • robust control
  • underactuated AUV
  • autonomous underwater vehicle (AUV)
  • marine robotics


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