Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle

Figure 2

Coordinate system and actuator actions in describing the dynamics of R-One. The coordinate system takes its origin at the center of gravity of the vehicle. The $n_v$ is the rpm of fore and rear vertical thrusters. The ${\delta }_e$ is the elevator deflection. The ${\delta }_{pr}$ is the deflected amount of the main thruster axis.

(a)

(b)