Dynamic Modeling of Underwater Multi-Hull Vehicles

Abstract

Summary This paper describes a modeling approach to compute the lumped parameter hydrodynamic derivative matrices of an underwater multi-hull vehicle. The vehicle, modeled as a multi-body underwater system and denoted as cluster, can be composed by heterogeneous bodies with known dynamic parameters, rigidly connected. The nonlinear dynamic equations of the cluster and its parameters are derived by means of a modular approach, based on the composition of single basic elements. The ultimate objective is to derive a mathematical description of the multi-hull system that captures its most significant dynamics allowing to design model-based motion controllers and navigation filters. The modular nature of the resulting model can be exploited, by example, when control reconfiguration is to be dealt with in the presence of (possibly multiple) failures. The numerical simulation of a hypothetical cluster is presented and discussed.

Experimental validation of the modeling and control of a multibody underwater vehicle manipulator system for sea mining exploration

“…The goal of this section is to describe the nonlinear dynamics of the multibody ROBUST base vehicle building on the knowledge of the single basic elements. To this aim, we exploit a specific composition approach proposed in Ingrosso et al (2019), which tackles the problem of representing in compact form the underwater hydrodynamics of a cluster of rigidly connected elements. It is based on the main assumption that the cluster is rigid.…”

“…The ROBUST multibody rigid underwater base vehicle is composed of heterogeneous robots/bodies, that is, three AUVs and a rigid frame linked rigidly, and denoted in the following as cluster. Using the modular approach in Ingrosso et al (2019), a mathematical model of the overall multibody system dynamics is here described exploiting the knowledge of the dynamic model of each single body.…”

“…As shown in Ingrosso et al (2019), the forces and moments acting on each body can be expressed in the common reference frame making use of the cluster velocity only. This allows to specify the vectors of forces and moments acting on the cluster in (3) as the sum of the individual contributions of the rigidly connected heterogeneous robots/bodies.…”

“…As a result, the terms , and in (3) can be computed as a function of the hydrodynamic/hydrostatic parameters of each individual th body as reported in Table 1. For further details about the terms of the generic th body used in Table 1 and details about the derivation of the cluster equations of motion, the reader is referred to Ingrosso et al (2019).…”

“…With respect to the previous works of the authors (Di Vito, Cataldi, Di Lillo, & Antonelli, 2018; Ingrosso, De Palma, Avanzini, & Indiveri, 2019; Sartore et al, 2019; Simetti, Casalino, Wanderlingh, & Aicardi, 2018, 2019), the key contributions of this manuscript are described as follows. First, a closed‐form multibody dynamic model is derived, following the clustering modular approach presented in Ingrosso et al (2019). The hydrodynamic parameters of the overall model are computed exploiting the clustering modular approach and are identified through dedicated experiments.…”