Dynamics and Control of AUVs using Buoyancy-Based Soft Actuation

Nonlinear control of Autonomous Underwater Vehicles (AUVs) via the use of thrusters has been well established. These AUVs can be used for various applications, including subsea inspection and maintenance, exploration, research, and observation. These thrusters are best suited for large thrust forces required by large movements, but require a lot of energy to operate for long periods of time. Research into Buoyancy Control Devices (BCDs) using reversible fuel cells (RFCs) has proven their viability. This paper demonstrates nonlinear control of BCD-based AUVs while picking up tools with unknown weights. An adaptive control law is derived that ensures stability and good performance throughout the completion of the desired mission. Simulation results demonstrate desired performance with low energy requirements.