LAUSR

ABSTRACT Roll control of the Autonomous Underwater Vehicles (AUVs) is a significant issue in the current field of research for many researchers in the subject of AUV control system designation. Especially at higher speeds, the roll angle generated by a single rotating propeller or other external disturbances can considerably influence the whole dynamics and therefore the operation of the vehicle. In this paper, the utilisation of a system of contra-rotating-propellers (CRP) to enhance the roll dynamics of an AUV is evaluated by developing a six-degrees-of-freedom (6DOF) dynamics and control systems’ simulator. The results show that: 1. The single propeller system can cause roll angle deflections affecting the heading angle and depth of AUV depending on the forward speed. 2. Using the contra-rotating system with a proper roll controller can enhance the roll dynamics of the vehicle, particularly for the real-time roll stabilisation and maneuvering goals.