Control of Autonomous Underwater Vehicles

a thesis submitted in partial fulfillment of the requirements for the degree of Bilas Chowdhury (107EE065) under the guidance of Rourkela CERTIFICATE This is to certify that the thesis entitled, " Control of Autonomous Underwater Vehicles " submitted by Mahendra Pratap Singh and Bilas Chowdhury in partial fulfillment of the requirements for the award of Bachelor of Technology Degree in Electrical Engineering at the National Institute of Technology, Rourkela is an authentic work carried out by them under my supervision. To the best of my knowledge, the matter embodied in the thesis has not been submitted to any other University / Institute for the award of any Degree or Diploma. ACKNOWLEDGEMENT We would like to articulate our profound gratitude and indebtedness to our supervisor Prof. B D Subudhi for initiating this project and also for his expert insight and assistance in the development of this project. We would like this opportunity to deluge our deepest gratitude to him for giving us such an innovative and challenging project. He has been always there to discuss about our ideas and his great moral support always encouraged us carrying out our project work. We also would like to thank Prof. Sandip Ghosh for his technical guidance. Without his lectures regarding PID controllers, it would have been really difficult to complete this project. We owe a special thanks to our friend Mr. Subhakanta Ranasingh for his suggestions in writing the MATLAB codes. We would also like to thank the kind hearted persons of control laboratory (lab assistants) during our control system lab. We also like to extend our gratitude to our respected Director of NITR Professor P C Panda and to Professor J K Satpathy for sharing their vast knowledge about the circuits and networks, embedded systems, and control system. Last but not the least we would like to thank the almighty. ABSTRACT In this thesis an overview of Autonomous Underwater Vehicles (AUV) is presented which covers the advancements in AUV technology in last two decades, different components of AUV and the applications of AUVs. A glimpse on AUV research in India is presented. A nonlinear 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) is used to control the pitch and in turn the depth of the AUV. After having developed, simulated and …