A Modeling and Control approach for a cubic AUV

Benoit Clement, Yang Rui, Ali Mansour, Li Ming

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)279-284
Number of pages6
Issue number23
Publication statusPublished - 2016
Externally publishedYes


  • application
  • AUV
  • modelling
  • Robust Control


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