In this Chapter the mathematical model of UVMSs is derived. Modeling of rigid bodies
moving in a fluid or underwater manipulators has been studied in literature by, among …

A lumped parameter model of open-frame unmanned underwater vehicles (UUV's) including
the effects of propeller-hull and propeller-propeller interactions is presented. The …

Abstract Remotely Operated Vehicles (ROVs) are today commonly deployed in a range of
underwater applications, including offshore oil and gas, defence, aquaculture and scientific …

A closed loop, time-invariant and globally stable control law for a bicycle-like kinematic
model is proposed. The resulting paths are smooth and the curvature bounded on the whole …

Abstract The Unmanned Underwater Vehicle (UUV) designed at the Mechanical
Engineering Department of the University of Canterbury is in an early stage of development …

Autonomous underwater vehicles are currently being utilised for scientific, commercial and
military underwater applications. These vehicles require autonomous guidance and control …

This paper presents the modeling approach and the control framework developed for the
ROBUST EU Horizon 2020 project. The goal of this project is to showcase technologies and …

This paper presents a robot control system using sliding mode control (SMC) as a core
controller. The SMC switches according to the Pontryagin's time optimal control principle, in …

This paper presents a simple and effective model identification method for Unmanned
Underwater Vehicles (UUV). The complete process, with 3 different phases, is firstly …

This report takes an in-depth look at the physical laws governing the behavior of an
underwater robotic vehicle. A complete 3D kinematics and dynamics matrix-based model is …