International Journal of Ocean System Engineering 1(4) (2011) 192-197 http://dx.doi.org/10.5574/IJOSE.2011.1.4.192 International Journal of Ocean System Engineering Design, Implementation and Navigation Test of Manta-type Unmanned Underwater Vehicle † Joon-Young Kim 1 , Sung-Hyub Ko 2 , Sohyung Cho 3 , Seung-Keon Lee 4 and Kyoung-Ho Sohn 5 * 1 Division of Marine Equipment Engineering, Korea Maritime University, Busan 606-791, Korea 2 Department of Ocean System Engineering, Jeju National University, Jeju 690-756, Korea 3 Department of Industrial and Manufacturing Engineering, Southern Illinois University, Edwardsville, IL 62026-1805, USA 4 Department of Naval Architecture & Ocean Engineering, Pusan National University, Busan 609-735, Korea 5 Department of Naval Architecture & Ocean Engineering, Korea Maritime University, Busan 606-791, Korea (Manuscript Received October 2, 2011; Revised October 30, 2011; Accepted November 16, 2011) Abstract This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and H∞ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking. Keywords: Manta-type unmanned underwater vehicle, Mathematical model, Planar Motion Mechanism, Controller design 1. Introduction Recently, unmanned underwater vehicles have been developed in order to prepare for the change of ocean environments and underwater battlefields. To reinforce the naval power, it is necessary to develop the underwater guidance weapon system. The research of underwater vehicles, in which various guidance systems are applied, is proceeding [1]. The NUWC (Naval Undersea Warfare Center) has been developing a new type of underwater warfare vehicle for the future undersea battlefield, and it was named MTV (Manta Test Vehicle) [2]. The MTV is normally part of a submarine but it can be used as a tool for data acquisitions and can carry out missions such as surveillance, tactical oceanography, mine warfare, and anti-submarine warfare payloads. This paper deals with the design, implementation and test of the MUUV (Manta-type Unmanned Underwater Vehicle) based on the concept of MTV. We have attempted dynamic performance analysis and controller design using a mathematical model † This paper was presented at the ISOPE 2011 conference, Maui, Hawaii, USA, June 19-24, 2011. * Corresponding author. Tel.: +82-51-410-4303, Fax.: +82-51-405-8305 E-mail address: sohnkh@hhu.ac.kr Copyright © KSOE 2011.