CLASSIFICATION OF HYDRODYNAMIC COEFFICIENTS OF AUTONOMOUS UNDERWATER VEHICLES BASED ON SENSITIVITY ANALYSES IN STANDARD MANEUVERS

Authors

Mahnaz Abolvafaie, Department of Electrical Engineering, University of Isfahan, Isfahan, Iran
Hamid Reza Koofigar, Department of Electrical Engineering, University of Isfahan, Isfahan, IranFollow
Maryam Malekzadeh, Department of Mechanical Engineering, University of Isfahan, Isfahan, Iran.

Abstract

Due to the important role of hydrodynamic coefficients in the control and guidance of an autonomous underwater vehicle (AUV), sensitivity analysis is proposed here, as a preliminary step to motion control design. Taking the standard maneuvers, including turning circle and horizontal and vertical zigzag, the sensitivity of various hydrodynamic coefficients with respect to velocities and position is determined. Such analyses are then used to classify the model parameters into three categories, as non-sensitive coefficients, coefficients with low influence on the motion and more sensitive coefficients.

Recommended Citation

Abolvafaie, Mahnaz; Koofigar, Hamid Reza; and Malekzadeh, Maryam (2018) "CLASSIFICATION OF HYDRODYNAMIC COEFFICIENTS OF AUTONOMOUS UNDERWATER VEHICLES BASED ON SENSITIVITY ANALYSES IN STANDARD MANEUVERS," Journal of Marine Science and Technology: Vol. 26: Iss. 1, Article 1.
DOI: 10.6119/JMST.2018.02_(1).0001
Available at: https://jmstt.ntou.edu.tw/journal/vol26/iss1/1