Dynamic simulation modeling and analysis of an internal CMG-actuated underwater vehicle

The dynamic model, simulation and analysis of the underwater vehicle actuated by a triangular pyramid-type control moment gyros (CMGs) are presented in this paper. To avoid the singularity problem of Euler angles, the attitude kinetic model is formulated based on the unit quaternion. Then considering the vehicle motion in a complex underwater environment with actuator failures, large angle attitude maneuver control is simulated by the proposed fault-tolerant control strategy.