STUDY OF UNDERWATER VEHICLE THRUSTER DYNAMICS

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STUDY OF UNDERWATER VEHICLE THRUSTER DYNAMICS

S.I. Antonenko
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Engineer, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-15-08, This email address is being protected from spambots. You need JavaScript enabled to view it.

V.P. Makarychev
PhD in Technical Sciences, RTC, Senior Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-15-08, This email address is being protected from spambots. You need JavaScript enabled to view it.


Received 29 October 2017

Abstract
The problem of control of autonomous underwater vehicle (AUV) with considering its thrusters dynamics is addressed. The features of the AUV movement control and the dynamic behavior of the underwater vehicle are considered. The Simulink model of the AUV taking into account the dynamics of its thrusters is suggested.

Key words
Autonomous underwater vehicle, Euler equations, dynamics of submersible thrusters.

Bibliographic description
Antonenko, S. and Makarychev, V. (2018). Study of underwater vehicle thruster dynamics. Robotics and Technical Cybernetics, 1(18), pp.61-68.

UDC identifier:
629.584

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