The current paper presents the robust autopilot controller design of an autonomous underwater vehicle (AUV) for path-tracking manoeuvres. First, an AUV dynamic model is established without external disturbances. Next, the control synthesis includes the H∞ loop-shaping design, incorporating co-prime factorization perturbations. Then the autopilot controller is reduced to a reasonable order. In addition, the resulting control system has been evaluated extensively in both the frequency and the time domains. Finally, it is found that the proposed vehicle system provides good manoeuvrability over a wide range of operating conditions, even under model uncertainties.
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