Robust Control on Coupling Effects of a Hovering Underwater Vehicle

This paper addresses a robust control solution to the coupling effects encountered by a hovering underwater vehicle. The coupling issues across different freedoms are treated as uncertainties. In this process, the nonlinear coupling model of the vehicle is first compensated into a linear coupling model using real experiments, and an uncertainty boundary is proposed to cover the coupled issues. Then, the non-zero elements on the non-diagonal part of inertia mass matrix, added mass matrix and damping matrix can be avoided in the control design process. A comparison is given between PID and the proposed robust controller.