This chapter deals with the robust control of an Autonomous Underwater Vehicle (AUV) subject to computation or communication constraints. The aim is the design of a gain-scheduled varying sampling controller using non periodic measurements, where the varying sampling rate is considered as a known parameter. First a Linear Parameter Varying (LPV) model of the AUV is developed to keep some non-linearities of the plant in the model, thus enlarging the model's domain of validity around nominal conditions. The weighting templates are also made bandwidth dependent to take into account the dependencies between the achievable control performances and the sampling interval. From this model a LPV controller is synthesized in continuous time and then discretized over the range of predefined sampling rates. The approach is applied to the altitude control of an AUV, where depth measurements are asynchronously supplied by acoustic sensors.