Mathematical Modeling and Stability Analysis of an Effective Design of Biomimetic AUV

Theresearch on autonomous underwater vehicles (AUVs) has accomplished enormous attention during the last few decades because of its applications in many marine systems fields. A significant number of AUVs have been developed to solve the wide range of scientific and applied tasks of ocean research and development worldwide. Thus the main aim of this research is to provide an effective mathematical model of Biomimetic AUV dynamics. For instance, to develop high-fidelity AUV simulation and control algorithms, we need to know the overall mathematical model of AUV dynamics. In order to endorse the ability of the proposed model, stability analysis has been performed, and the model is validated by designing a coupled velocity tracking control using a PID controller.