A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach

Table 1

SNAME notations for underwater vehicles.

Degree of freedom	Motions	Force and moment	Linear and angular velocity	Position and Euler angles
1	Surge	X	U	x
2	Sway	Y	V	y
3	Heave	Z	W	z
4	Roll	K	P	ϕ
5	Pitch	M	Q	θ
6	Yaw	N	R	ψ