On control of jet angle and heading stabilization of aSpheroidal underwater vehicle

Underwater Vehicles have been used in numerous applications and hence are currently gaining research interest. This paper considers the dynamic model of a spheroidal underwater vehicle and its properties. The dynamics of underwater vehicles is unstable and non-linear. A brief account of existing control methods has been presented in this paper for stabilization and motion control of the underwater vehicle. Further two control schemes have been developed for a spheroidal underwater vehicle to explain the design procedure. The control performance of the vehicle has been compared for the two control schemes considered in this paper. It has been observed that performance of underwater vehicle is better with proposed control methods in comparision to results obtained by Mazumdar and Asada[2].