This paper presents a control synthesis methodology for a cubic AUV. The modeling part is based on CFD calculation and the control part is based on H∞ theory, nonlinear compensation, Smith compensation and Kalman filter. It is presented and adapted to Ciscrea AUV for heading control. A comparison with PID controller is given with simulations and sea tests.
Clement, B., Rui, Y., Mansour, A., & Ming, L. (2016). A Modeling and Control approach for a cubic AUV. IFAC-PapersOnLine, 49(23), 279–284. https://doi.org/10.1016/j.ifacol.2016.10.355