A de-coupled vertical controller for micro-autonomous underwater vehicles (μAUVs)

Micro-Autonomous Underwater Vehicles (μAUVs) can be used as part of underwater sensor networks in to monitor industrial processes. The high manoeuvrability requirements dictate that traditional AUV designs are not suitable. A prototype μAUV has been developed with independent movement capabilities in the horizontal and vertical planes. This paper outlines the work conducted on the design of a vertical control system and analyses the difference between the simulation and real-world implementation.