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Dynamic Modeling of Underwater Multi-Hull Vehicles

Published online by Cambridge University Press:  25 November 2019

Roberta Ingrosso ,
Daniela De Palma Open the ORCID record for Daniela De Palma [Opens in a new window] ,
Giulio Avanzini Open the ORCID record for Giulio Avanzini [Opens in a new window]  and
Giovanni Indiveri Open the ORCID record for Giovanni Indiveri [Opens in a new window]
Roberta Ingrosso*
Affiliation:
Department of Innovation Engineering, University of Salento, ISME node, Lecce, Italy, E-mails: daniela.depalma@unisalento.it, giulio.avanzini@unisalento.it, giovanni.indiveri@unisalento.it
Daniela De Palma
Affiliation:
Department of Innovation Engineering, University of Salento, ISME node, Lecce, Italy, E-mails: daniela.depalma@unisalento.it, giulio.avanzini@unisalento.it, giovanni.indiveri@unisalento.it
Giulio Avanzini
Affiliation:
Department of Innovation Engineering, University of Salento, ISME node, Lecce, Italy, E-mails: daniela.depalma@unisalento.it, giulio.avanzini@unisalento.it, giovanni.indiveri@unisalento.it
Giovanni Indiveri
Affiliation:
Department of Innovation Engineering, University of Salento, ISME node, Lecce, Italy, E-mails: daniela.depalma@unisalento.it, giulio.avanzini@unisalento.it, giovanni.indiveri@unisalento.it
*
*Corresponding author. E-mail: roberta.ingrosso@unisalento.it
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Summary

This paper describes a modeling approach to compute the lumped parameter hydrodynamic derivative matrices of an underwater multi-hull vehicle. The vehicle, modeled as a multi-body underwater system and denoted as cluster, can be composed by heterogeneous bodies with known dynamic parameters, rigidly connected. The nonlinear dynamic equations of the cluster and its parameters are derived by means of a modular approach, based on the composition of single basic elements. The ultimate objective is to derive a mathematical description of the multi-hull system that captures its most significant dynamics allowing to design model-based motion controllers and navigation filters. The modular nature of the resulting model can be exploited, by example, when control reconfiguration is to be dealt with in the presence of (possibly multiple) failures. The numerical simulation of a hypothetical cluster is presented and discussed.

Keywords

Autonomous underwater vehicleMulti-body underwater systemsHydrodynamic model
Type
Articles
Information
Robotica , Volume 38 , Issue 9 , September 2020 , pp. 1682 - 1702
Copyright
© Cambridge University Press 2019

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