Lagrangian formulation of underwater vehicles´ dynamics

Key properties of the equations of motion for underwater vehicles are derived both theoretically and experimentally. The equations of motion for underwater vehicles are derived in a Lagrangian framework. The Lagrangian approach has several distinctive advantages compared to the Newtonian approach. This is especially true in the context of underwater vehicles. The derivation of the hydrodynamic added inertia and the vehicle´s rigid body equations of motion can be done in a common framework. The added inertia is given a clear and physical interpretation when the vehicle-ambient water system is considered from an energy point of view instead of a force-moment approach