| Sumario: | This thesis focuses on the development of control systems for sub-actuated underwater vehicles, specifically aiming to follow straight paths without temporal restrictions. The research introduces a guidance and control scheme utilizing a sliding mode controller for an HRC AUV (Autonomous Underwater Vehicle). The proposed approach ensures exponential stability and accuracy in the presence of marine currents. A nonlinear model of the vehicle is developed to account for wave effects and marine currents, which is used for simulation and control system design. The study employs Lyapunov theorems to validate the stability of the proposed solution. Intended for scholars and professionals in marine engineering, the work contributes to the field by addressing challenges in modeling, simulation, and control of marine vehicles.
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