Research Article
Coordinated Depth Control of Multiple Autonomous Underwater Vehicles by Using Theory of Adaptive Sliding Mode
Table 1
The parameters of each AUV.
| Parameter | Definition | Value |
| | mass | 1600 | | density | 1019.2 | | thrust | 1078 | | gravity | 15680 | | length | 7.738 | | maximum cross-sectional area | 0.224 | | moment of inertia around the z-axis | 6771.8 | | distance between center of mass and center of buoyancy | 0 | | distance of the center of mass move down | -0.03 | | distance of the center of mass side shift | 0 | | vertical additional mass factor | 31.588 | | lateral additional mass factor | 1554.672 | | additional spacing factor | 276.113 | | lateral additional moment of inertia factor | 6905.1545 | | positional derivative of lift factor versus angle of attack | 2.172 | | positional derivative of lift factor versus horizontal rudder angle | 0.4994 | | positional derivative of lift factor versus angular velocity | 1.362 | | positional derivative of pitching moment factor versus angle of attack | 0.5892 | | positional derivative of pitching moment factor versus horizontal rudder angle | -0.7339 | | positional derivative of pitching moment factor versus angular velocity | -0.2659 |
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