Dynamics and simulation of autonomous underwater vehicle based on control moment gyros

To improve autonomous underwater vehicle(AUV)'s low velocity control performance, a control moment gyro (CMG) was introduced as the attitude control system. Taking the fluid dynamics into account, the dynamic model of AUV was built based on CMG, and a simulation and analysis on AUV's kinematics and attitude control also was made. The results show that AUV based on CMG has high efficient maneuverability and ideal low velocity control performance. Accordingly, AUV's kinematics and attitude control can be realized. But the SGCMG steering law used doesn't consider the singularity avoidance. Designing high performance steering law is the farther problem. It provides foundation for the design of steering law and attitude control.