Control of the MARES autonomous underwater vehicle

This paper focuses the control problem of a nonholonomic autonomous underwater vehicle, moving in the tridimensional space. The dynamic of a body in submarine environments is strongly nonlinear. This implies that classical linear controllers are often inadequate whereby Lyapunov theory is here considered. Methods based in this theory are promising tools to design controllers and are applied to the case of MARES, a small-sized autonomous underwater vehicle. Several controllers based only on Lyapunov theory are determined while others combine linear and nonlinear control theory in order to perform various maneuvers. Aiming to verify the correct performance of controllers, simulations and experiments are carried out.