Modeling an Autonomous Underwater Vehicle (AUV) with Matlab and Simulink
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 an alternative method for classical method for the study of the dynamic characteristics of AUVs to apply it in the DEF-ALFA. Based on a methodology that uses the similarities between AUVs and airplanes, a simulation was obtained that allows analyzing the behavior of the AUV without the need to perform complex calculations.
References
Allotta B, Caiti A, Costanzi R, Fanelli F, Fenucci D, Meli E, Ridolfi A. A new AUV navigation system exploiting unscented Kalman filter. Ocean Engineering. 2016;113:121-32. https://doi.org/10.1016/j.oceaneng.2015.12.058. ArduPilot Project. ArduSub. Available online: https://www.ardusub.com/ (accessed on 12 April 2022). Batmani Y, Davoodi M, Meskin N. Nonlinear suboptimal tracking controller design using statedependent riccati equation technique. IEEE Transactions on Control Systems Technology. 2017;25(5):1833-9. https://doi.org/10.1109/TCST.2016.2617285
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