Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane

Table 1

Hydrodynamic parameters of REMUS AUV.

Variables	Values	Units
	−4.88	kg m^2/rad
	3.18	kg
	−6.15	kg/rad
	24	kg
	−1.93	kg m/rad
	−0.632	Kg m/rad^2
	−5.22	kg/rad
	−1.93	kg m
	−188	kg m^2/rad^2
	−2	kg m/rad
	−35.5	kg
	−131	kg/m
	−28.6	kg/m
	−6.15	kg/(m rad)