Autonomous Underwater Vehicle Trajectory Tracking Control

This project was completed within a team of two as a requirement for the course Digital Controls, taken in the Fall of 2022.  The goal was to derive a 6 DOF nonlinear plant model of a REMUS 100 autonomous underwater vehicle, and then develop robust PID trajectory tracking controllers that could be emulated in discrete time. Below is the final project presentation. The final report as well as all supporting code can be accessed using the links to the right.