Combining Moving Mass Actuators and Manoeuvring Models for Underwater Vehicles: A Lagrangian Approach

TL;DR

This paper develops a Newton-Euler formulation for underwater vehicles with internal moving mass actuators, extending existing maneuvering models and validating the approach through simulation comparisons.

Contribution

It introduces a Newton-Euler based model incorporating moving mass dynamics into underwater vehicle maneuvering, extending prior Hamiltonian formulations.

Findings

Model accurately captures moving mass effects

Simulation results align with traditional formulations

Enhanced understanding of internal mass influence

Abstract

In this paper, we present a Newton-Euler formulation of the equations of motion for underwater vehicles with an interntal moving mass actuator. Furthermore, the moving mass dynamics are expressed as an extension to the manoeuvring model for underwater vehicles, originally introduced by Fossen (1991). The influence of the moving mass is described in body-frame and included as states in both an additional kinematic equation and as part of the coupled rigid-body kinetics of the underwater vehicle. The Coriolis-centripetal effects are derived from Kirchhoff's equations and the hydrostatics are derived using first principals. The proposed Newton-Euler model is validated through simulation and compared with the traditional Hamiltonian internal moving mass actuator formulation.