Research on motion control of AUV based on rotatable thruster
Junbao Zeng · Machinery Design and Manufacture · 2012
Through analyzing the force and torque on AUV in motion process,rotatable thruster is adopted for AUV and four thrusters shall be applied to realize 6DOF motion.Then the 6-DOF kinetics equation of AUV is established based on rotatable thruster,which will be simplified specially.As it is known kinetics model is required to analyze motion control of the AUV,which bearing force and torque is therefore necessary to analyze.Based on the simplified motion equation the motion control system is designed which will be simulated and verified by applying Matlab.