Design of $H_{\infty}$ Controller for Underwater Vehicle and Nonlinear Simulation

수중운동체에 대한 $H_{\infty}$ 제어기 설계와 비선형 시뮬레이션

In this paper, we design the $H_{\infty}$ controllers satisfying robust stability and performance for underwater vehicle. The underwater vehicle has computations delay time and input delay. In addition, there exist parameter uncertainties by the roll motion coefficient error, buoyance error, and gravity error. We design the $H_{\infty}$ controllers using model-matching method and check the performance of the proposed controller by nonlinear simulation which includes time delay model, sensor error model, and actuator model.