IIARD International Institute of Academic Research and Development

RESEARCH JOURNAL OF PURE SCIENCE AND TECHNOLOGY (RJPST )

E-ISSN 2579-0536
P-ISSN 2695-2696
VOL. 6 NO. 1 2023
DOI: https://doi.org/10.56201/rjpst.v6.no1.2023.pg27.52

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Modeling of the DEF-ALFA Autonomous Underwater Vehicle (AUV)

Dr. Ing. Alejandro Molina, Ing. Mabel Bottoni, Lic,German Fernandez Madarieta, Ing. Ernesto Castagnet

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Abstract

This article presents a modeling of the dynamics of the DEF-ALFA autonomous underwater vehicle designed within the search project PID UNDEFI 484/2019 of the National Defense University. This paper proposes a previous study of the general characteristics of AUVs regarding their dynamic behavior and proposes a working model to apply it in the DEF-ALFA. On the basis of the developed model, the parameters of the vehicle were obtained and a simulation was carried out, allowing the realization of future studies to evaluate the performance of the DEF-ALFA and propose improvements.

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References:

1] Fossen, T. I. (1994). Guidance and Control of Ocean Vehicles, John Wiley & Sons, Inc., ISBN 0-471-
94113-1, Chichester, England.

[2] Antonelli G., 2006, \Underwater Robots". Springer, 2nd Edition.

[3] Fossen, T. I., Pettersen, K. Y., 2014. On uniform semiglobal exponential stability (USGES) of
proportional line-of-sight guidance laws. Automatica 50 (11), 2912–2917.

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