Modeling and Control of a Highly Modular Underwater Vehicle with Experimental Results

This paper presents methodologies for modeling, parameterization and control system design of a novel class of underwater vehicle called MUM - Large Modifiable Underwater Mothership. MUM breaks with the traditional concept of a fixed hull structure. The vehicle shape is completely variable in consequence of mission dependent assembly and arrangement of basic and mission specific modules. The key feature of the proposed methodologies is the modular design of both the model and the control system, which allows the adjustment of the control system when restructuring the vehicle modules and shape. The paper closes with experimental trials carried out using a scaled functional model of a real size MUM vehicle. To validate the generic methods a complex underwater mission is performed, which covers different relevant operational areas of different underwater vehicles.