Abstract: This paper deals with the dynamic model and analysis of Autonomous underwater vehicle for depth control. Out of many underwater vehicles, AUVs are chosen for most of the purposes. It offers better performance and are risk free since the tether cables are absent and is controlled using onboard computers.An AUV is a complex highly nonlinear system and are highly coupled, due to hydrodynamic forces. So impractical for controller implantation. A reduced order subsystem with dive plane dynamics is being considered and controller is implemented. Here a comparative study of two controllers PID and FLC are being studied.

Keywords: Autonomous underwater vehicles (AUV), depth control, PID, FLC, MATLAB