Control of the Maya AUV in the vertical and horizontal planes: Theory and practical results

Abstract

The paper describes the design and testing of the depth and heading autopilots for a small Autonomous Underwater Vehicle (AUV) named Maya. Control system design is done using the LQ (Linear-Quadratic) optimization technique based on a mathematical model of the AUV obtained by resorting to analytical and semi-empirical methods. Details of system implementation are given and the results of tests with the prototype vehicle are discussed. The paper concludes with a discussion of the interaction between motions in the horizontal and vertical planes due to an asymmetry in the placement of the stern control planes.