This paper presents the dynamic modelling and control design of an underactuated, Autonomous Underwater Vehicle (AUV). The motion dynamics of an AUV are coupled and nonlinear, which makes the design of a control law a challenging task. In this work, a nonlinear dynamic model of the underwater vehicle is discussed. The paper further proposes the design of a sliding mode control for the heading and diving plane manoeuvres of AUV. The stability of the designed controller is validated through simulation using a dynamic and kinematic model developed. The dynamic model and control policy proposed in this work is generic and thus not restricted to any particular underwater vehicle.
Modelling and Motion Control of an Underactuated Autonomous Underwater Vehicle
2021-07-16
1441169 byte
Conference paper
Electronic Resource
English
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