Man's first attempts to build a submarine can be placed in 440 BC, however the first true marine vehicle with engine propulsion and capable of diving was created in Spain in 1867 and could dive up to 30 meters. Currently modern models reach much higher depths (about 400 meters). However, in order to overcome these limitations, for example the space to be dedicated to the crew and the oxygen production plants, they are opting to produce drone submarines. Drones would allow the achievement of depth and greater autonomy, moreover, maintaining smaller dimensions that would allow better maneuverability This thesis aims to develop a control system able to drive a submarine drone in several maneuvers meeting specific requirements.