Research Article
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 m2/rad | | 3.18 | kg | | −6.15 | kg/rad | | 24 | kg | | −1.93 | kg m/rad | | −0.632 | Kg m/rad2 | | −5.22 | kg/rad | | −1.93 | kg m | | −188 | kg m2/rad2 | | −2 | kg m/rad | | −35.5 | kg | | −131 | kg/m | | −28.6 | kg/m | | −6.15 | kg/(m rad) |
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