LMI based depth control for autonomous underwater vehicle

The task of achieving depth control of an Autonomous Underwater Vehicle (AUV) is rendered complex by its coupled non-linear dynamics. The paper deals with depth control of a REMUS AUV, for which different types of control strategies have been presented. Specifically, control strategies like PID, LQR, MPC have been discussed, which are quantitative controllers. The time consuming online optimization problem with traditional PID, LQR and Model Predictive Control(MPC) can be overcome by proposed Linear Matrix Inequality(LMI) based Control to ensure controlled behaviours in an uncertain environment. Comparative analysis and simulation results for proposed LMI control have been validated and robustness property has been tested by incorporating input gain parametric uncertainties.