JRM Vol.28 No.3 pp. 371-377
doi: 10.20965/jrm.2016.p0371


Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage

Rongmin Zhang, Yuan Chen, and Jun Gao

School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai
Wenhuaxilu 180, Weihai 264209, China

Corresponding author

November 20, 2015
March 8, 2016
June 20, 2016
underwater vehicle, vectored thruster, dynamic model, maneuverability
Solid model of a vectored underwater vehicle

Solid model of a vectored underwater vehicle

Vectored underwater vehicles (VUVs) are receiving increasing research attention, in part for their maneuverability. In our work, we apply a novel vectored thruster based on a spherical parallel mechanism to an underwater vehicle. We present and calculate the scaling factor based on the vectored thruster’s configuration parameters and set up a six DOF kinematic model. We construct a nonlinear dynamic model of the VUV without appendages using the Newton-Euler method. To demonstrate the VUV’s transverse maneuverability, we set up a perturbation model in a complex domain using Laplacian transformation, and propose the stability margin of vectored propulsion as a maneuverability index. Many numerical examples are provided to verify the maneuverability of the VUV.
Cite this article as:
R. Zhang, Y. Chen, and J. Gao, “Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage,” J. Robot. Mechatron., Vol.28 No.3, pp. 371-377, 2016.
Data files:
  1. [1] T. Naruse, “Development of Bottom-Reliant Type Underwater Robots,” J. of Robotics and Mechatronics, Vol.26, No.3, pp. 279-286, 2014.
  2. [2] C. Shili, W. Min, Li. Yibo et al., “Steering Control Strategy of AUV with Vectored Thruster Based on Double-Loop Mode,” J. of Tianjin University, Vol.47, No.6, pp. 530-534, 2014.
  3. [3] F. Takemura, S. Futenma, K. Kawabata et al., “Experimental Verification of Lifting Force of Underwater Robot with Thrusters Using Passive Posture Maintenance,” J. of Robotics and Mechatronics, Vol.25, No.5, pp. 812-819, 2013.
  4. [4] Z. Rongmin, C. Yuan, and G. Jun, “Dynamic Analysis of Decoupled Spherical Parallel Mechanism for Vectored Thruster,” Trans. of the Chinese Society for Agricultural Machinery, Vol.46, No.6, pp. 319-326, 2015.
  5. [5] X. Feng, Z. Zaojian, Y. Jianchuan et al., “Identification modeling of underwater vehicles’ nonlinear dynamics based on support vector machines,” Ocean Engineering, Vol.67, pp. 68-76, 2013.
  6. [6] B. Xin, L. Xiaohui, and S. Zhaocun, “A vectored water jet propulsion method for autonomous underwater vehicles,” Ocean Engineering, Vol.74, pp. 133-140, 2013.
  7. [7] W. Shuxin, L. Fang, S. Shuai et al., “Dynamic Modeling of Hybrid Underwater Glider Based on the Theory of Differential Geometry and Sea Trails,” Chinese J. of Mechanical Engineering, Vol.50, No.2, pp. 19-27, 2014.
  8. [8] V. Kopman, N. Cavaliere, and M. Porfiri, “MASUV-1:A Miniature Underwater Vehicle With Multidirectional Thrust Vectoring for Safe Animal Interactions,” IEEE/ASME Trans. on Mechatronics, Vol.17, No.3, pp. 563-571, 2012.
  9. [9] P. Jinmo and K. Nakwan, “Dynamics modeling of a semi-submersible autonomous underwater vehicle with a towfish towed by a cable,” Int. J. of Naval Architecture and Ocean Engineering, Vol.7, No.2, pp. 409-425, 2015.
  10. [10] L. Guijie, C. Gong, J. Jianbo et al., “Dynamics modeling and control simulation of an autonomous underwater vehicle,” J. of Coastal Research, Vol.73, pp. 741-746, 2015.
  11. [11] W. Chuanfeng, Z. Fumin, and D. Schaefer, “Dynamic modeling of an autonomous underwater vehicle,” J. of Marine Science and Technology, Vol.20, No.2, pp. 199-212, 2015.
  12. [12] G. A. Elnashar, “Dynamics modeling, performance evaluation and stability analysis of an autonomous underwater vehicle,” Int. J. of Modeling, Identification and Control, Vol.21, No.3, pp. 306-320, 2014.
  13. [13] W. Yanhui, D. Zhenzhen, C. Wei et al., “Dynamic modeling for multi-wing autonomous underwater vehicle motion control system,” J. of Huazhong University of Science and Technology (Natural Science Edition), Vol.43, No.6, pp. 106-111, 2015.
  14. [14] Z. Baoqiang, W. Xiaohao, Y. Baoheng et al., “Lyapunov stability analysis of the underwater glider,” J. of Harbin Engineering University, Vol.36, No.1, pp. 83-87, 2015.
  15. [15] Z. Xiaoyu, H. Yuntao, B. Tao et al., “H-infinity controller design using LMIs for high-speed underwater vehicles in presence of uncertainties and disturbances,” Ocean Engineering, Vol.104, pp. 359-369, 2015.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 24, 2023