Design, Modeling and Control of a Micro AUV

This work describes the development, control and testing of a low cost Micro Autonomous Underwater Vehicle, named AR2D2. The main objective of this work is to apply a nonlinear PD controller to stabilize vehicle attitude and position, by using an Inertial Measurement Unit and a low-cost ultrasonic device. The stability of close loop system with the nonlinear PD controller is proven using a Lyapunovs theory. Therefore, the performance of the micro AUV is validated by simulation and real-time experiments.