Heave and Roll control of Biomimetic AUV using Advanced control strategies

Biomimetic Underwater Vehicles (BAUVs) are a relatively new invention in the area of underwater vehicles that do not use propellers. For underwater surveying, a stable autonomous underwater vehicle is required. This research aimed to develop a realistic design for a Biomimetic Autonomous Underwater Vehicle with heave and roll control. The control application uses a Proportional Integral Derivative (PID) control technique with manual and genetic algorithm-based tuning. An $H_{\infty}|$ controller is also built in this study in order to attain more excellent performance against uncertainty. There is also a comparison study of existing controllers in this area with existing ones to see the benefits and downsides.