Modeling of a Complex-Shaped Underwater Vehicle

Rui Yang 1 Benoit Clement 1 Ali Mansour 2 H. J. Li 3 M. Li 3 N. L. Wu 3
1 Lab-STICC_ENSTAB_CID_IHSEV ; OSM
STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
2 Lab-STICC_ENSTAB_CACS_COM ; IDM
STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : A control-oriented modeling approach is proposed for a low-speed semi-AUV (Autonomous Underwater Vehicle) CISCREA, which has complex-shaped structures. Due to the geometry of this AUV, it is very difficult to identify its dynamic and hydrodynamic parameters. Therefore, the main objective of this paper is to find an efficient modeling approach to tune acceptable control design models. The presented solution uses cost efficient CFD (computational fluid dynamic) softwares predicting the two hydrodynamic key parameters: The added mass matrix and the damping matrix. A complete model is built for CISCREA from CFD and verified through experimental results. The results indicate that the proposed computational approach seems to be desirable for the robust control scheme of many complex-shaped AUVs. Finally, Numerical and experimental results are compared.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01008150
Contributor : Annick Billon-Coat <>
Submitted on : Tuesday, June 17, 2014 - 10:44:31 AM
Last modification on : Thursday, October 17, 2019 - 12:36:44 PM

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  • HAL Id : hal-01008150, version 1

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Rui Yang, Benoit Clement, Ali Mansour, H. J. Li, M. Li, et al.. Modeling of a Complex-Shaped Underwater Vehicle. ICARSC 2014 - IEEE International Conference on Autonomous Robot Systems and Competitions, May 2014, Espinho, Portugal. ⟨hal-01008150⟩

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