Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31824
Robust Control Synthesis for an Unmanned Underwater Vehicle

Authors: A. Budiyono


The control design for unmanned underwater vehicles (UUVs) is challenging due to the uncertainties in the complex dynamic modeling of the vehicle as well as its unstructured operational environment. To cope with these difficulties, a practical robust control is therefore desirable. The paper deals with the application of coefficient diagram method (CDM) for a robust control design of an autonomous underwater vehicle. The CDM is an algebraic approach in which the characteristic polynomial and the controller are synthesized simultaneously. Particularly, a coefficient diagram (comparable to Bode diagram) is used effectively to convey pertinent design information and as a measure of trade-off between stability, response speed and robustness. In the polynomial ring, Kharitonov polynomials are employed to analyze the robustness of the controller due to parametric uncertainties.

Keywords: coefficient diagram method, robust control, Kharitonov polynomials, unmanned underwater vehicles.

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1868


[1] R. K. Lea, R. Allen and S. L.Merry, "A comparative study of control techniques for an underwater flight vehicle," International Journal of Systems Science, volume 30, number 9, 1999, pp. 947- 964
[2] M.Xu, and S.M. Smith, "Adaptive fuzzy logic depth controller for variable buoyancy system of autonomous underwater vehicles," in Proceedings of the 3rd IEEE Conference on Fuzzy Systems, 1994, pp. 1191- 1196.
[3] P.A. DiBitetto, "Fuzzy logic for depth control of unmanned undersea vehicles," IEEE Journal of Oceanic Engineering, 20, 1995, pp. 242-248
[4] K.P. Venugopal, R. Sudhakar, and A.S. Pandya, "On-line learning control of autonomous underwater vehicles using feedforward neural networks," IEEE Journal of Oceanic Engineering, 17, 1992, pp. 308-319
[5] E. Liceaga-Castro, and G. van der Molen, "Submarine H∞ depth control under wave disturbances," IEEE Journal of Oceanic Engineering, 3, 1995, pp. 338-346.
[6] Muljowidodo, S.D. Jenie, A. Budiyono and S. Adinugroho,"Design, development and testing of underwater vehicles: ITB experience, " paper presented at The International Conference on Underwater System Technology: Theory and Application (USYS-06), Penang, Malaysia, 2006
[7] A. Budiyono, A. Sugama, Muljowidodo, and Sapto Adi Nugroho, "Dynamics analysis of AUV Sotong," paper presented at the 2nd International Conference on Underwater System Technology: Theory and Applications 2008 (USYS-08),Bali, Indonesia, 2008
[8] A. Budiyono, Muljowidodo and A. Sugama, "Coefficient Diagram Method for the Control of an Unmanned Underwater Vehicle," Indian J Mar Sci., 38(3):316-323, Sept. 2009
[9] F. Lin, Robust Control Design : An Optimal Control Approach. West Sussex: John Wiley & Sons, 2007, ch. 7