Dynamic Modeling and Control of a Cost-Effective AUV for Environmental and Infrastructure Inspection: A Moroccan Case Study

This study presents the systematic design, dynamic modeling, and performance evaluation of a cost-effective, multipurpose Unmanned Underwater Vehicle (UUV) intended for underwater monitoring and inspection tasks. The proposed platform integrates a corrosion-resistant mechanical structure, a fully actuated Six-Degree-Of-Freedom (6-DOF) thruster configuration, and a modular electronics architecture employing open-source hardware to enhance adaptability and reduce system cost. A comprehensive mathematical model of the vehicle is formulated following Fossen's nonlinear 6-DOF framework, incorporating added-mass effects, quadratic hydrodynamic damping, and hydrostatic restoring forces. The model is used to evaluate vehicle behavior through simulation studies, which demonstrate accurate and stable depth-keeping regulation via PID control, high maneuverability, and stable 6-DOF response across representative operational scenarios. Owing to its mechanical and computational modularity, the system supports dual-use operation for both environmental monitoring and marine infrastructure inspection. The results indicate that the proposed UUV architecture constitutes a technically viable and economically accessible solution for a broad range of underwater research and industrial applications.