ABSTRACT
This chapter provides an overview of an underwater vehicle is given and a mathematical model of the vehicle is derived. It presents in detail the derivation of the mathematical modeling of the system. The mathematical model of the underwater vehicle is obtained through the two models Dynamic model And Kinematic model. Dynamic model allows for the actual forces, causing the motion and the dynamic properties of the vehicle to be taken into account. The kinematic model of the system is where the actual forces causing the motion and the dynamic properties of the vehicle do not enter the equations of motion. The kinematic model of the system is obtained by taking into consideration the non-holonomic constraints on the linear velocity. The nonholonomic constraints restrict the velocity of the system to be zero in certain directions, but these restrictions do not restrict the global movement of the system.
