MATHEMATICAL MODELING, LINEAR CONTROL AND CONTACT DYNAMICS OF A UN- DERWATER VEHICLE WITH 2 DEGREES OF FREEDOM

Resumo

This paper investigates the contact dynamics of a hybrid underwater vehicle operated remotely.
In this first model, the vehicle has two degrees of freedom, executing the movement of submersion and
rotation around it‘s center of mass. The main activity of such vehicle is to perform inspections on
underwater and naval structures. For this, it is equipped with a set of motorized tracks. In this model,
two points of contact will be considered along the length of the motorized tracks. Each of these points,
when in contact, caracterizes a solution to the problem. The contact occurs on horizontal surface with
complicity. To analyze this phenomenon will be using the Lagrange multipliers method to compute the
contact force at each point of contact of the motorized tracks. In order to control the angular position
of the vehicle, a control law will be proposed based on the LQR (Linear Quadratic Regulator) control
methodology, the purpose of this control law is to provide that the two contact points established on the
vehicle‘s motorized tracks will simultaneously contact or ensure that vehicle contacts the surface through
one of these points.