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