Robust $\mathbf{H}_{\infty}$ Control of Unmanned Underwater Vehicle in Vertical Plane Based on T-S Model and Parallel Distributed Compensation

Excellent depth control capability of UUV (Unmanned Underwater Vehicle) is a key factor for completing specific tasks. Considering the variance of UUV's speed and ocean current interference, depth and pitch control model of UUV are established based on T-S model. The H
_∞
controller in vertical plane movement is designed applying the method of parallel distributed compensation (PDC). Aiming to meet the design requirements with the large pitch angle when UUV is submerging, the depth-pitch coordinated control method with variant depth is used to control the submergence of UUV. Simulation result shows that the control method can effectively control depth and pitch of UUV in given speed interval and has good dynamic performance. Moreover, the method can effectively decrease the pitch angel when UUV is submerging and has strong inhibitory ability on ocean current disturbance.