Nonlinear Modelling and Simulation of Underwater Robot in Shallow Water

摘要

The underwater robot equipped with multi-thrusters on the different directions. It can realized direct lift control and direct side force control. It has two motion modes include cruise mode and hover mode. The hydrodynamic model of different motion modes are established and the model of waves is also established. Then the 6 degree nonlinear motion equation of the robot are established based on momentum theorem and momentum moment theorem. The model could simulate the robot's motion both of cruise mode and hover mode and give help to the design of control system.