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Unmanned underwater vehicles (UUVs) have many applications in aquaculture, deep-sea exploration, research, and enhanced rescue tasks. However, various factors must be considered when developing any underwater vehicle system to explore the deep ends of the underwater world. In this paper, we develop the most suitable model for understanding various system parameters. The new mathematical model considers certain constraints and external disturbances exerted on the system. Also, a control strategy is suggested for the UUV\u2019s stability and robustness. The suggested observer and model are simple, allowing for accurate estimations of all system states and the global impacts of unknown limped perturbations with a minimal computational cost.<\/jats:p>","DOI":"10.1155\/2024\/1996159","type":"journal-article","created":{"date-parts":[[2024,3,14]],"date-time":"2024-03-14T22:35:06Z","timestamp":1710455706000},"page":"1-10","source":"Crossref","is-referenced-by-count":0,"title":["Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme"],"prefix":"10.1155","volume":"2024","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1151-0973","authenticated-orcid":true,"given":"Sheikh Izzal","family":"Azid","sequence":"first","affiliation":[{"name":"School of Engineering and Energy, Murdoch University, Perth, Australia"},{"name":"North Australia Centre for Autonomous Systems, Charles Darwin University, Darwin, Australia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8613-2490","authenticated-orcid":true,"given":"Utkal","family":"Mehta","sequence":"additional","affiliation":[{"name":"Electrical and Electronics Engineering, University of the South Pacific, Laucala Campus, Suva, Fiji"}]},{"given":"Adarsh","family":"Kuar","sequence":"additional","affiliation":[{"name":"Electrical and Electronics Engineering, University of the South Pacific, Laucala Campus, Suva, Fiji"}]},{"given":"Zahid","family":"Ali","sequence":"additional","affiliation":[{"name":"Electrical and Electronics Engineering, University of the South Pacific, Laucala Campus, Suva, Fiji"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1155\/2021\/5542920"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.3390\/jmse7120444"},{"key":"3","unstructured":"VervoortJ.Modeling and control of an unmanned underwater vehicle2008Christchurch, New ZealandUniversity of CanterburyM.S. thesis"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.3390\/machines9060109"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3015857"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1051\/e3sconf\/202122901010"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202261"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/ISMSIT50672.2020.9254760"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/CJECE.2019.2920938"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.25103\/jestr.126.01"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3214810"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.3390\/s21030747"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3048706"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1109\/ICAMIMIA.2015.7508022"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1109\/ICSSE.2019.8823333"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1109\/ICUS.2017.8278413"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.3390\/technologies9020037"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1016\/j.apor.2020.102053"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1155\/2023\/4168433"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2022.07.001"},{"author":"MathWorks","key":"21","article-title":"Model predictive control toolbox documentation"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1016\/j.apor.2018.06.017"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2024\/1996159.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2024\/1996159.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2024\/1996159.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,14]],"date-time":"2024-03-14T22:35:09Z","timestamp":1710455709000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/jr\/2024\/1996159\/"}},"subtitle":[],"editor":[{"given":"Bingxiao","family":"Ding","sequence":"additional","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2024,3,14]]},"references-count":22,"alternative-id":["1996159","1996159"],"URL":"https:\/\/doi.org\/10.1155\/2024\/1996159","relation":{},"ISSN":["1687-9619","1687-9600"],"issn-type":[{"type":"electronic","value":"1687-9619"},{"type":"print","value":"1687-9600"}],"subject":[],"published":{"date-parts":[[2024,3,14]]}}}