Quad-tilting thrusters micro submarine: Modeling and control of the attitude

In this paper we present the design, modeling and control of a quad tilting thruster Micro Autonomous Underwater Vehicle (MicroAUV). The detailed dynamic model of the vehicle is deduced via the Euler-Lagrange formulation. We address the stabilization of the attitude of the vehicle to perform manipulation tasks. For this purpose, we have employed a saturated-based control algorithm. Experimental autonomous attitude control was successfully achieved, validating the proposed vehicle as well as the embedded control system.