A study on hovering motion of the underwater vehicle with umbilical cable

We propose a new mathematical model on the hydrodynamics of a UV affected by the UC dynamics. For this, we map the applied forces of the UC to the dynamics of the UV through rotation matrices, and perform computer simulations to analyze the derived modeling of the UV affected by the UC dynamics. We perform simulations on the UV motion, including surge, heave, sway, and turning motions, for the cases with the UC and without the UC effect, and discuss their results.