What question did this study set out to answer?

The study aims to model the movement of the AUV SIRENA mathematically to facilitate simulations.

June 6, 2026Open Access

Coefficients estimation in the dynamic equations of motion of an AUV

GCGuillermo Robles Carrasco AMAntonio Viedma Martínez ATAna Collado Toledo

Key Points

The study aims to model the movement of the AUV SIRENA mathematically to facilitate simulations.
Developed equations representing the motion in 6 DOF of an AUV
Utilized a non-linear system of partial and ordinary differential equations
Simplified equations using specific hydrodynamic coefficients.
Presented a novel non-linear system of differential equations related to AUV movement.
Demonstrated how hydrodynamic coefficients impact the equations of motion.

Abstract

This article is about the development of the equations of the movement in 6 DOF of AUV (Autonomous Underwater Vehicle) SIRENA carried out by students of UPCT. As it is a pre-programmed submersible, one of the main targets is to model mathematically the movement of the submarine to achieve simulations of it. The equations are a non-lineal system of EDPs and EDOs and are simplified using its own hydrodynamic coefficients. The aim of this study is to present a nonlineal system of differential equations, function of these coefficients.

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Cite This Study

Carrasco et al. (Thu,) studied this question.

synapsesocial.com/papers/6a23ba1771a5da9775e75e5a https://doi.org/https://doi.org/10.5821/iwp.2015.18.14936

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