Dynamic Model of Unmanned Underwater Vehicle Based on BTT Control

The stability of traditional unmanned underwater vehicle(UUV) is deteriorated because of the induced rolling moment generated by skid and the cross-coupling among three autopilot channels in high-speed maneuver,so a bank-to-turn(BTT) control method is proposed to improve UUV maneuverability.Appropriate simplification of the spacial dynamic model of UUV is made according to the characters of the UUV navigation dynamic model and BTT control,hence a BTT control-based UUV dynamic model is obtained.Moreover,the normal overload are taken as state variables,which can be measured easily,in order to simplify the design of the autopilot.The proposed model may be suitable for the design of the UUV control system based on BTT control technology.