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This document compares two robust control methods - sliding mode control and mu synthesis - for controlling the position and attitude of an autonomous underwater vehicle (AUV). It first presents the nonlinear and linearized models of the AUV. It then describes the design of sliding mode and mu synthesis controllers for the linearized model. The sliding mode controller constrains the system to a switching surface to make it insensitive to uncertainties. The mu synthesis controller is designed using standard

Author

Sachin Shende

Language

EN