Simulation results

Using the derived control law (22), numerical simulations of the described ellipsoidal UUV were performed for two cases via Matlab/Simulinkā„¢ software tool. In the first case, the control input is not constrained, whereas the second case shows the simulations with the constrained input. In the second case, the initial position has been chosen different than the first case. For both cases, initial velocities of the underwater vehicle are given as: [u(0),v(0),w(0),p(0),q(0),r(0)]T=[0,0,0,0,0,1]T. The values of the parameters used in the simulations are given in Table 1.






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