Appendix A1: models of an unmanned underwater vehicle (UUV)
The equations of motion of an underwater vehicle may be represented either in body-ixed or earth-ixed frames of reference (see e.g. [A1.1]). Using standard notation, the general body-ixed vector representation involves the nonlinear equations [A1.1]:
Here the matrix M is the inertia matrix, with added mass effects included. The matrix C(υ) involves Coriolis and centripetal terms, again with added mass ...