In This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an onboard PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and H∞ controllers are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in towing tank for depth keeping and heading angle tracking.
Recently, unmanned underwater vehicles have been developed in order to prepare the change of ocean environments and underwater battlefield. To reinforce the naval power, it is necessary to develop the underwater guidance weapon system. The research of underwater vehicles which are applied various guidance system is proceeding (Bae and Sohn, 2009). The NUWC (Naval Undersea Warfare Center) has been developing a new type underwater warfare vehicle for the future undersea battlefield, and it was named MTV (Manta Test Vehicle) (Menozzi et al., 2000). The MTV is normally a part of submarine but it can be used as a tool of data acquisitions and carry out missions such as surveillance, tactical oceanography, mine warfare, and anti-submarine warfare payloads.
