Vehicle ordering
Marine Robotics Sensing, modeling and control

In the previous sections, we established a 6-ddl model for the marine vehicle. In many applications, such as controlling a surface vehicle, it is not necessary to control all 6 ddl. In this case, a simplified model is used, in which certain ddl are not controlled. The equations are then simplified and some terms can be linearized. In what follows, we will deal with the general case of 6 ddl, from which it is easy to derive a model limited to the number of ddl required for the application.