Dynamic modeling

The dynamic behavior of an underwater vehicle is described through Newton's laws of linear and angular momentum. The equations of motion of such vehicles are highly nonlinear, time-varying and coupled due to hydrodynamic added mass, lift, drag, Coriolis and centripetal forces, which are acting on the vehicle and generally include uncertainties (Fossen & Sagatun, 1991b). Detailed discussions on modeling and system identification techniques are given in (Fossen, 1994) and (Goheen & Jefferys, 1990).

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