Modeling and motion control system research of a mini underwater vehicle

Abstract

Spatial motion mathematic model of a mini autonomous underwater vehicle (in short, AUV) controlled by thruster and fins was established. The forces acting on the AUV were analyzed and the main hydrodynamic coefficients were determined both theoretically and experimentally. The embedded motion control system was introduced in detail, including hardware… (More)

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Cite this paper

@article{Wang2009ModelingAM, title={Modeling and motion control system research of a mini underwater vehicle}, author={Bo Wang and Yumin Su and Lei Wan and Yueming Li}, journal={2009 International Conference on Mechatronics and Automation}, year={2009}, pages={4463-4467} }