Modular Modeling and Control for Autonomous Underwater Vehicle (AUV)

Abstract

Dynamic models of the AUV are the basis of controller design for the AUV. This thesis proposes a new modular modeling method for AUVs with Myring hull profile. This method divides the AUV into 3 basic modules: the nose section, the middle section and the tail section with four control fins. It is based on the essential data of each module and enables flexible derivation of dynamic models of different configuration. By the use of basic geometrical parameters of modules, the essential data of each module can be calculated. From the derived essential data, the hydrodynamic coefficients for the dynamic model are determined according to fluidics and empirical formulas. For completeness, three control schemes are adopted and the specific controllers are designed to realize maneuverability of the AUV: forward speed control, steering control and depth control.