Design of autopilot for BTT UUV based on H∞ control theory

A novel robust control scheme using H_∞ theory is proposed for three-channel coupling bank-to-turn (BTT) unmanned underwater vehicles (UUV) autopilot. Considering the coupling among the pitch, the yaw and the roll channels as bounded uncertain disturbance, as a result there is no coupling in the UUV model in the form of H_∞ standard state function, and the pitch, the yaw and the roll channels are designed independently. The six-DOF simulation results show that the proposed design method is simple and feasible, and the designed autopilot is efficient for the BTT UUV, because it can restrain the disturbances effectively.