This paper presents a method for preliminary design of the control which is needed to achieve underwater vehicle trajectories. The proposed way allows one to evaluate dynamics of underwater vehicle using a trajectory tracking control algorithm. At the first stage, we propose the controller, and at the second, we test dynamics of the system based on the properties resulting from the transformed equations of motion and the selected indexes. The controller, which is applicable for fully actuated vehicles, contains the system dynamics in the control gains. It takes into account not only model of the vehicle but also model of disturbances. The way for the dynamics investigation uses the transformed equations obtaining from the inertia matrix decomposition. Consequently, thanks to the observed properties, it is possible to estimate dynamics using the criteria set. The method is useful before real experiment to test various models of the vehicle, disturbances, and the control task. The procedure is based on simulation tests and the proposed criteria. Effectiveness of the approach is shown on two examples of 6 DOF underwater vehicle model and its modifications.

中文翻译：

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实现水下航行器轨迹所需控制的初步设计

本文提出了一种实现水下航行器轨迹所需控制的初步设计方法。所提出的方法允许使用轨迹跟踪控制算法来评估水下航行器的动力学。在第一阶段，我们提出控制器，在第二阶段，我们根据由变换后的运动方程和所选指标产生的属性测试系统的动力学。适用于全驱动车辆的控制器在控制增益中包含系统动态。它不仅考虑了车辆模型，还考虑了干扰模型。动力学研究的方式使用从惯性矩阵分解获得的变换方程。因此，由于观察到的特性，可以使用标准集来估计动态。该方法可用于在实际实验之前测试车辆的各种模型、干扰和控制任务。该程序基于模拟测试和建议的标准。该方法的有效性在两个 6 自由度水下航行器模型及其修改示例中得到了证明。