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Modeling and motion simulation of an underwater simulation

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2007
Küçük, Koray
This thesis involves modeling, controller design, and test case simulations for an underwater vehicle. Firstly, a complete dynamic model of the vehicle is developed with six degrees of freedom. The model includes the nonlinearities associated with the hydrodynamic forces and moments. The thrusters of the vehicle are also modeled. Then, using appropriate linearizations of the model, position and rate controllers are designed for the forward, downward, and turning motions of the vehicle. Finally, the designed controllers are tested for various maneuvers by means of simulations using the nonlinear dynamic model of the vehicle. The simulation results show that the designed controllers are quite satisfactory for the intended maneuvers.