In this chapter, a mathematical model of underwater vehicles known from the literature is recalled. In the references concerning ocean and marine vehicles deeper analyzes of specific problems were presented. The underwater vehicle models were presented earlier both in books and journal papers. For this reason, in this work, the known models are applied. Next, the transformed equations of motion in terms of so called the Inertial Quasi Velocities (IQV) are given (their derivation is presented in Appendix).
Models of Underwater Vehicles
Springer Tracts in Mechanical Engineering
Inertial Quasi-Velocity Based Controllers for a Class of Vehicles ; Chapter : 2 ; 9-34
2022-02-26
26 pages
Article/Chapter (Book)
Electronic Resource
English
Models for Underwater Vehicles
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