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## Modeling and simulation of embedded underwater vehicle system

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Numerical modeling and simulation techniques are essential in many engineering applications. This technique has been evolving and has played an essential role in industry and institutions for the past few decades. The applications of numerical modeling and simulation techniques on marine vehicles such as underwater robotic vehicle have been gradually increased in the past few decades. Many of them were used for subsea exploration and installation. The remotely operated vehicles (ROVs) are the major workhorses to carry out several tasks in deeper and risker areas where the use of human divers is impractical. However, there are numbers of challenges in operating the vehicles precisely, such as unpredictable disturbance like current and wave during its operation. The manipulation and maneuverability become the most essential tasks in designing the vehicle. A marine vessel control system has three independent blocks denoted as guidance, navigation, and control (GNC) system. A dynamic model is always needed in designing a good GNC system for an underwater vehicle.

Chapter Contents:

• 3.1 Introduction
• 3.2 Overview of remotely operated underwater vehicle
• 3.3 Dynamics modeling of remotely operated underwater vehicle
• 3.3.1 Hydrodynamic damping model
• 3.4 Validation of experimental results
• 3.4.1 Heave model identification
• 3.4.2 Yaw model identification
• 3.5 Simulation of remotely operated underwater vehicle model
• 3.6 Simulating external disturbance for remotely operated underwater vehicle model
• 3.7 Launch and recovery process model
• 3.8 Control systems design
• 3.8.1 Sliding-mode control
• 3.8.2 Proposed fuzzy-based genetic algorithm for SMC
• 3.8.3 Proportional-integral-derivative
• 3.8.3.1 Conventional SMC
• 3.9 Remotely operated underwater vehicle sea trial
• References

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