Modelling and Simulation of Integrated Systems in Engineering

Appendix A1: models of an unmanned underwater vehicle (UUV)

A1.1 An outline description of the basic nonlinear model of the vehicle

The equations of motion of an underwater vehicle may be represented either in body-ixed or earth-ixed frames of reference (see e.g. [A1.1]). Using standard notation, the general body-ixed vector representation involves the nonlinear equations [A1.1]:

(A1.1)

(A1.2)

Here the matrix M is the inertia matrix, with added mass effects included. The matrix C(υ) involves Coriolis and centripetal terms, again with added mass ...