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Mathematical Modeling and Stability Analysis of an Effective Design of Biomimetic AUV

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Abstract

Theresearch on autonomous underwater vehicles (AUVs) has accomplished enormous attention during the last few decades because of its applications in many marine systems fields. A significant number of AUVs have been developed to solve the wide range of scientific and applied tasks of ocean research and development worldwide. Thus the main aim of this research is to provide an effective mathematical model of Biomimetic AUV dynamics. For instance, to develop high-fidelity AUV simulation and control algorithms, we need to know the overall mathematical model of AUV dynamics. In order to endorse the ability of the proposed model, stability analysis has been performed, and the model is validated by designing a coupled velocity tracking control using a PID controller.

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Acknowledgments

The author gratefully acknowledges Dr. P Ananthakrishnan, Department of Ocean Engineering, Indian Institute of Technology, Madras for his valuable support and cooperation to do this research.

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  1. Department of Ocean Engineering, Indian Institute of Technology, Madras, Adayar, Chennai, 600036, Tamilnadu, India

    M. V. Aruna

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  1. M. V. Aruna
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The author contributed to the conception and design of this study. Material preparation, analysis, and implementation were performed by Aruna M V.

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Correspondence to M. V. Aruna.

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Aruna, M.V. Mathematical Modeling and Stability Analysis of an Effective Design of Biomimetic AUV. J Intell Robot Syst 106, 75 (2022). https://doi.org/10.1007/s10846-022-01768-0

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