Fuzzy controller for the yaw and velocity control of the Guanay II AUV

This work presents in detail the fuzzy control design for yaw and velocity control of an autonomous underwater vehicle. This control has been developed from the mathematical description of the hydrodynamic model of the vehicle, which is studied and discussed from different situations of forward velocity. The model is linearized and several linear controllers are designed for actuation at certain situations, in a way that the fuzzy control allows to handle these controllers globally.