Depth Control of AUV Using State-Feedback and Full Order Observer

This paper focuses on the design and development of controller for control of depth of autonomous underwater vehicle (AUV). The dynamics of Remus underwater vehicle (Remus) is considered in this work. Controller is designed based on the linearized equations of motion. State space model is developed for AUV in diving plane by making a few assumptions. A full order observer is implemented and controller is designed on new states that are estimated by full order observer. The angle of stern planes is considered as input and depth as output. The state space model is implemented for MATLAB simulation. Optimal values of controller gain matrix and observer gain matrix are calculated by using pole placement method. All simulations have been carried out on MATLAB and desired response is achieved by taking optimum values of gain matrices.