The mathematical model of the UUV is derived in this section. The kinematics and dynamics of the UUV are studied assuming it as a rigid body. The kinematic equations, dynamic equations for the rigid body, and fluid-body dynamics are needed in the discussion of the UUV's motion. Combining those equations, the nonlinear model of the UUV as 6-DOF equations of motion is obtained. In this study, derivation of the mathematical model is not discussed in full detail. The reader is referred to (Meirovitch, 1970) and (Fossen, 1994) for a detailed treatment.
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