Description of the system

To obtain the mathematical model, the specifications and the assumptions which enable the formulation of kinematic and dynamic equations are needed. The simple model of the UUV holds the essential dynamical properties. A hull having a scalene ellipsoidal shape is shown in Fig.1. As illustrated in Fig.1, the UUV has a flat type of hull. For simulations, the UUV is assumed as neutrally buoyant and completely rigid. The fluid, which the vehicle interacts with, is considered as an ideal fluid (unbounded, irrotational, inviscid, and incompressible) and is chosen as sea water in simulations. Additionally, added mass related contributions in the equations of motion are neglected.

Fig. 1. Inertial and body-fixed coordinate systems and motion representations

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