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A method for numerical simulation for dynamics and control of underwater vehicles based on quasi-velocities


[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication


Published in

Mechanics Based Design of Structures and Machines

Journal year: 2022 | Journal volume: vol. 50 | Journal number: no. 4

Article type

scientific article

Publication language


  • underwater vehicle
  • nonlinear control
  • earth-frame trajectory tracking
  • transformed equations of motion
  • dynamics investigation
  • simulation

EN The aim of this work is to provide a method for dynamics and trajectory control simulation for underwater vehicle motions which is based on quasi-velocity decomposition of the inertia matrix. In terms of the transformed equations of motion a tracking control algorithm (containing an adaptive term) for an underwater vehicle is given. In the algorithm dynamics of the vehicle is included into the control gains. Next some properties of the system dynamics observable after transformation of the velocity vector expressed in the earth-fixed frame are shown (they are inaccessible without decomposition of the matrix of inertia). The controller performance is compared with performance of the algorithm in which the dynamics in the gains is absent. Such approach enables one an insight into the dynamics of the vehicle together with the controller. The simulation method is applicable for fully actuated marine vehicles and serves both for control and vehicle dynamics study. The case study done on a 6 DOFs underwater vehicle illustrates usefulness of the investigation strategy.

Date of online publication


Pages (from - to)

1314 - 1330




Points of MNiSW / journal


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