Evaluation of AUV fixed and vectorial propulsion systems with dynamic simulation and non-linear control

This paper presents an evaluation method for assessing different Autonomous Underwater Vehicle (AUV) propulsion systems (or topologies). This evaluation is based on solid/fluid dynamics simulation and uses a model-based control (feedback linearisation) to achieve the robotic mission assigned to the AUV. The objective of this work is to provide an evaluation relevant enough to be used for optimisation purposes. A model of an existing AUV (RSM) is proposed and detailed as well as two studied propulsion systems in competition: Fixed and vectorial thrusters. The main contribution of this work is to bring a consistent evaluation including models, tasks and a generic high-level control adapted to each system. Simulations of our AUV achieving a diving task are carried out for both propulsion systems. The simulated task analysis allows to evaluate the influence of the propulsive strategy over AUVs operability. Subsequently, numerical results are discussed in terms of energy efficiency and control.