Ramírez-Serrano, AlejandroGarcia Rodriguez, Jaime Arnoldo2020-01-312020-01-312020-01-29Garcia Rodriguez, J. A. (2020). Control of a Highly Maneuverable Autonomous Underwater Vehicle (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca.http://hdl.handle.net/1880/111596A Highly Maneuverable Autonomous Underwater Vehicle (HM-AUV) is a novel type of underwater vehicle designed to navigate in constrained and difficult to reach environments. The vehicle used in this thesis has a unique 3-thruster configuration that allows it to produce motion among the different axis of motion by adjusting its thruster tilt angles. The focus of this thesis is to develop a control scheme that can take advantage of this unique thruster configuration in order for the HM-AUV to maneuver among tight spaces. The developed controller achieves control over most of the HM-AUV's axis of motion directly while managing to control its lateral, or sway, movement via a novel direct sway control technique. With the implemented control scheme, the HM-AUV is able to achieve complex motions, albeit at a slow rate due to the underpowered thrusters that are installed in the vehicle.engUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.Roboticsmaster thesis10.11575/PRISM/37540