SUMMARYA novel underwater vehicle configuration with an operating principle as the Sepiida animal is presented and developed in this paper. The mathematical equations describing the movements of the vehicle are obtained using the Newton–Euler approach. An analysis of the dynamic model is done for control purposes. A prototype and its embedded system are developed for validating analytically and experimentally the proposed mathematical representation. A real-time characterization of one mass is done to relate the pitch angle with the radio of displacement of the mass. In addition, first validation of the closed-loop system is done using a linear controller.

中文翻译：

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Sepiida 型水下航行器的设计、建造和控制

摘要本文提出并开发了一种具有作为 Sepiida 动物的工作原理的新型水下航行器配置。描述车辆运动的数学方程是使用牛顿-欧拉方法获得的。出于控制目的，对动态模型进行了分析。开发了一个原型及其嵌入式系统，用于通过分析和实验验证所提出的数学表示。对一个质量进行实时表征以将俯仰角与质量位移的无线电联系起来。此外，闭环系统的第一次验证是使用线性控制器完成的。