[Other] [Full book]Modeling of Underwater Vehicles Copy

Autonomous underwater vehicle (AUV); Degrees of freedom; Euler angles; Hydrodynamics; Kinematics; Kinetics; Remotely operated vehicle (ROV); Underwater vehicles

A mathematical model of an underwater vehicle is used to simulate or control the motions of the vehicle in six degrees of freedom in a Cartesian coordinate system. The vehicle model is represented as ordinary differential equations, which are numerically integrated in order to obtain position, velocity, and attitude as a function of time.

Underwater vehicles are usually modeled using the Newtonian-Euler framework. The equations of motion are formulated in 6 degrees of freedom using Euler angles or quaternions for attitude, while the forces and moments are due to rigid-body dynamics, hydrodynamic damping and added mass, gravity and buoyancy. In addition, models of propellers, moving masses and control surfaces are included to describe the control forces. Underwater vehicles are exposed...