Control of Autonomous Underwater Vehicle

Abstract

In this thesis an overview of Autonomous Underwater Vehicles (AUV) is presented which covers the advancements on AUV technology in last two decades, differentxe components of AUV and the applications of AUVs. A non linear model of AUV is obtained through kinematics and dynamics equation which is linearized about an operating point to get linearized depth plane model. A two loop controller (PI control,PD control) is used to control the pitch and in turn the depth of the AUV. After having developed, simulated and analyzed the pitch and depth controller for a single AUV, we focus our attention towards developing Tracking control of AUVs. The Tracking control for multiple Autonomous Underwater Vehicles (AUVs) is considered in spatial motions. the objective is to drive a leader AUV along a desired trajectory, and make the follower robots keep a desired Tracking with respect to the leaders conguration. Also,Neural Network control and the integration of optimal control and sliding mode control results in an obstacle avoidance controller that is not only robust, but also autonomous. The results of the above control objectives such as tracking control of AUV, controller for avoiding obstacles multiple AUVs are presented and discussed in the thesis.