6-DOF Nonlinear Dynamic Modeling and Control of Autonomous Underwater Vehicle

Abstract

During the design process of an autonomous underwater vehicle (AUV), establishing a dynamic model of the system plays a crucial role. Controller (autopilot) is designed based on the dynamic model of the system before the field tests. The controller must reliably manage the system based on the states of the AUV. This study provides a comprehensive guide for the design process of the 6-DOF nonlinear dynamic model and controller of an AUV. Control method used in this study is the nonlinear dynamic inversion method, based on feedback linearization, to establish robust control strategies with a focus on pitch and yaw control. Numerous studies have been conducted in the field of underwater vehicles; however, this research combines both 6-DoF modeling and controller design. Furthermore, it implements the feedback linearization control approach specifically for AUVs. In this study, the nonlinear dynamic model of the AUV is developed and the nonlinear dynamic inversion method is effectively applied to achieve desired control over pitch angle, depth, yaw angle and yaw angular rate.