ABSTRACT A method for dynamics analysis of underwater vehicles is presented in this paper. The strategy consists of two stages. At the first stage, we propose an adaptive velocity tracking controller for the vehicle. The control algorithm is expressed in terms of transformed equations of motion in which the inertia matrix is diagonal. Consequently, it takes into account the dynamics of the system and it can be applied for fully actuated systems in the presence of disturbances and uncertain dynamics. Using this controller, we are able to track the velocity, and also at the same time, to evaluate some dynamic properties of the vehicle. At the second stage, we give some procedure for the dynamics analysis. The advantage of the approach is that the algorithm serves simultaneously for control purposes and dynamics investigation. It can be done before real experiment which is always expensive and time consuming. The effectiveness of the strategy is validated via simulation on a full 6-DOFs underwater vehicle model.

中文翻译：

---

用于水下航行器模型仿真分析的速度跟踪控制器

摘要 本文提出了一种水下航行器动力学分析方法。该战略包括两个阶段。在第一阶段，我们为车辆提出了一种自适应速度跟踪控制器。控制算法用运动的变换方程表示，其中惯性矩阵是对角线。因此，它考虑了系统的动力学，并且可以应用于存在扰动和不确定动力学的完全驱动系统。使用该控制器，我们能够跟踪速度，同时评估车辆的一些动态特性。在第二阶段，我们给出了动力学分析的一些程序。该方法的优点是该算法同时用于控制目的和动态研究。它可以在真正的实验之前完成，这总是昂贵且耗时的。该策略的有效性通过对完整 6-DOF 水下航行器模型的模拟得到验证。