Mathematical Problems in Engineering
Volume 2010 (2010), Article ID 149385, 23 pages
Research Article

Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle

1NTT Communication Science Laboratories, Nippon Telegraph and Telephone Corporation, 3-1 Morinosato Wakamiya, Atsugi, Kanagawa 243-0198, Japan
2Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo 153-8505, Japan

Received 16 August 2009; Revised 13 November 2009; Accepted 22 December 2009

Academic Editor: José Balthazar

Copyright © 2010 Kangsoo Kim and Tamaki Ura. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Model-based analysis and synthesis applied to the dynamics, guidance, and control of an autonomous undersea vehicle are presented. As the dynamic model for describing vehicle motion mathematically, the equations of motion are derived. The stability derivatives in the equations of motion are determined by a simulation-based technique using computational fluid dynamics analysis. The dynamic model is applied to the design of the low-level control systems, offering model-based synthetic approach in dynamics and control applications. As an intelligent navigational strategy for undersea vehicles, we present the optimal guidance in environmental disturbances. The optimal guidance aims at the minimum-time transit of a vehicle in an environmental flow disturbance. In this paper, a newly developed algorithm for obtaining the numerical solution of the optimal guidance law is presented. The algorithm is a globally working procedure deriving the optimal guidance in any deterministic environmental disturbance. As a fail-safe tactic in achieving the optimal navigation in environments of moderate uncertainty, we propose the quasi-optimal guidance. Performances of the optimal and the quasi-optimal guidances are demonstrated by the simulated navigations in a few environmental disturbances.