摘要：The design appr.ach of H∞ autopilot for.autonomous under.ater.vehicles (AUVs) is pr.posed. Compr.sed by the thr.e sub-contr.ller.,i.e. speed,heading and depth contr.ller.,the designed autopilot has advantage over.existing H∞ contr.l of AUVs. The over.hoot in speed,heading and depth contr.l systems under.step commands is r.str.cted by r.fining the weighting function for.r.bust stability. The dynamic per.or.ance of heading and depth contr.l systems is impr.ved by feeding back yaw r.te and pitch angle,r.spectively. To evaluate the design appr.ach,it is then utilized to synthesize the autopilot for.flight contr.l of Subzer. Ⅲ,a low cost test-bed for.AUV contr.l techniques. Both simulations and water.tr.ils ver.fy the effectiveness of the design appr.ach.