| The subject of this project shows the research in the modeling of unmanned underwater vehicles more precisely on the hydrodynamic interactions, gravity and buoyancy effects and propulsion forces.;There are two applications of this nonlinear modeling. The first application of a nonlinear model allows to better understand and analyze the dynamics of immersed vehicles. The second application allows to control it better in order to get it stealthier or to consume a minimal amount of energy.;We present here the formulation, step by step, of a global nonlinear model of the thrust-vectored vehicle, explaining the interactions between the design and the modeling of the four-propeller vehicle.;Proportional Integral Derivative regulators are implemented with an input-output feedback linearization to observe unmanned underwater vehicle capacities.;The accuracy of the unmanned underwater vehicle simulation is directly linked to its modeling accuracy. This project establishes a nonlinear six degrees of freedom model with the aim to keep the interactions between longitudinal and lateral dynamics modes.;A study of white noise robustness and actuators and motors inner-loop controls defines the limits of this thesis and the future research areas of this project.;Keywords: Unmanned underwater vehicle, nonlinear model, thrust-vectored vehicle, four-propeller vehicle, input-output feedback linearization. |
