Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
1727306 | Ocean Engineering | 2009 | 7 Pages |
Abstract
A method for dynamics investigation and coupling detection between velocities of autonomous underwater vehicles (AUVs) is presented in this paper. The method is based on transformation of equations of motion, which are usually used for an underwater vehicle, into equations with a diagonal mass matrix. The obtained equations contain quasi-velocities and allow one to give a further insight into the AUV dynamics especially for an underactuated system. Some advantages of the proposed approach are discussed, too. An analytical example for a 3-DOF AUV shows possible application of the transformed equations. Moreover, the given approach is validated via simulation on a 6-DOF vehicle.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Ocean Engineering
Authors
PrzemysÅaw Herman,