This chapter concentrates on the problem of modeling and motion control for the AUVs with fins. Firstly, we develop the motion equation in six-degree freedom and analyze the force and hydrodynamic coefficients, especilly the fin effect. The feasibility and accuracy are verified by comparing the results between at-sea experiments and simulation. The model is applicable to most AUVs. Secondly, we present a simple and practical control method — S surface control to achieve motion control for the AUVs with fins, and deduce the self-learning algorithm using BP algorithm of neural networks for reference. Finally, the experiment results verify the feasibility and the superiority of the mathmetical modelling and control method.

Learn Photoshop Now

Learn Photoshop Now

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

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