A study of robust multivariable control designs for remotely operated vehicle depth control systems

This paper compares the results of four robust multivariable design techniques applied to the depth control of a nonlinear Remotely Operated Vehicle (ROV) subjected to parameter perturbations. Three nonlinear control techniques, namely, input-output(i/o) linearization control, input-output linearization control with sliding mode control and input-output linearization control with adaptive fuzzy control are studied. The fourth technique is the H_∞ loop shaping design procedure using multiobjective optimization for the simultaneous design of robust stability and performance