An Autonomous Underwater Vehicle as a Spacecraft Attitude Control Simulator

Abstract

In this paper we present a mathematical model of an experimental autonomous underwater vehicle actuated by internal reaction wheels. Assuming coincident centers of mass and buoyancy we develop two nonlinear attitude control laws; one through potential shaping and the other through backstepping. We then show, through numerical simulation, successful attitude stabilization using each of the control laws for an autonomous underwater vehicle with non-coincident centers of mass and buoyancy, viscous rotor damping, and motor torque saturation. From the numerical simulations, we develop physical limitations on the autonomous underwater vehicle to ensure successful stabilization of a given attitude control maneuver. We show experimental approaches to identify physical parameters and we present preliminary experimental results.