Nonlinear 𝐻_∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

Table 1

Simulation result: vehicle forces for four vertical thrusters (N).

	Set-point tracking control	Nonlinear 𝐻∞ optimal controller
Thrusters 1	45.20	42.20
Thrusters 2	71.38	66.80
Thrusters 3	45.38	42.78
Thrusters 4	66.96	65.69
Total input	116.97	111.30