A 6 Sigma Framework for the Design of Flatfish Type Autonomous Underwater Vehicle (AUV) 2009-01-1190

Hydrodynamic parameters play a major role in the dynamics and control of Autonomous Underwater Vehicles (AUV). The performance of an AUV is dependent on the parameter variations and a proper understanding of these parametric influences is essential for the design, modelling and control of high performance AUVs. In this paper, a six sigma framework for the sensitivity analysis of a flatfish type AUV is presented. Robust design techniques such as Taguchi’s design method and statistical analysis tools such as Pareto-ANOVA, and ANOVA are used to identify the hydrodynamic parameters influencing the dynamic performance of an AUV. In the initial study, it is found that when the vehicle commanded in forward direction, it is in bow down configuration which is unacceptable for AUV motion. This is because of the vehicle buoyancy and shape of the vehicle. So the sensitivity analysis of pitch angle variation is studied by using robust design techniques. Six prominent hydrodynamic coefficients are considered for the analysis. The results show that there are three critical hydrodynamic parameters such as buoyancy, added mass, and hydrodynamic moment in heave motion that influence the performance of a flat fish type AUV. These findings are significant in the design modifications as well as controller design of AUV.