Mathematical modeling and coupling analysis of an autonomous underwater vehicle with fins

摘要

This paper mainly deals with the maneuverability capabilities of the propeller-fin-driven underwater vehicle. The nonlinear dynamic model is firstly set up, then the coupling relationships among different freedoms are analyzed and the decoupling method is put forward. Finally simulation results demonstrate that the nonlinear dynamic modeling and decoupling methods achieve better maneuverability and steering performance of the underwater vehicle.