Analysis of Parameter Sensitivity Using Robust Design Techniques for a Flatfish Type Autonomous Underwater Vehicle

Table 1

Design of Experiments for Pitch Response (𝐿₄₉ (7⁸) OA).

Exp. no.	𝑋̇𝑢	𝑍̇𝑤	𝑍̇𝑞	𝑀̇𝑞	𝑍𝑤	𝑍𝑞	𝑀𝑤	𝑀𝑞	Pitch angle (deg) for 𝑈 =			S/N ratio (dB)
	(%)	(%)	(%)	(%)	(%)	(%)	(%)	(%)	1.13 (m/s)	1.59 (m/s)	1.98 (m/s)
1	10	10	10	10	10	10	10	10	−8.82	−10.03	−10.93	30.03
2	10	25	25	40	55	70	85	100	−33.43	−34.46	−34.97	19.30
3	10	40	40	55	70	85	100	25	−32.63	−33.33	−33.67	19.57
4	10	55	55	70	85	100	25	40	−7.82	−7.98	−8.06	31.99
5	10	70	70	85	100	25	40	55	−10.73	−10.88	−10.97	29.28
6	10	85	85	100	25	40	55	70	−35.01	−37.61	−39.08	18.57
7	10	100	100	25	40	55	70	85	−34.31	−35.91	−36.73	18.96
8	25	10	25	25	25	25	25	25	−17.12	−18.56	−19.48	24.70
9	25	25	55	85	40	10	100	70	−5.42	−5.76	−5.96	34.86
10	25	40	85	40	10	100	70	55	−53.19	−58.33	−60.97	14.79
11	25	55	40	10	100	70	55	85	−14.53	−14.73	−14.83	26.66
12	25	70	10	100	70	55	85	40	−28.52	−29.16	−29.49	20.73
13	25	85	100	70	55	85	40	10	−17.15	−17.76	−18.11	25.05
14	25	100	70	55	85	40	10	100	−3.25	−3.32	−3.35	39.61
15	40	10	40	40	40	40	40	40	−21.04	−22.14	−22.78	23.15
16	40	25	85	70	100	55	10	25	−2.86	−2.92	−2.95	40.72
17	40	40	70	100	55	10	25	85	−10.93	−11.33	−11.57	28.95
18	40	55	100	55	10	25	85	70	−61.21	−63.12	−65.36	13.98
19	40	70	55	10	25	85	70	100	−42.29	−45.13	−46.61	16.99
20	40	85	10	25	85	70	100	55	−28.45	−28.92	−29.15	20.80
21	40	100	25	85	70	100	55	10	−19.36	−19.83	−20.09	24.08
22	55	10	55	55	55	55	55	55	−23.01	−23.79	−24.23	22.51
23	55	25	40	100	85	25	70	10	−89.98	−89.98	−89.98	10.92
24	55	40	100	85	25	70	10	40	−6.82	−7.45	−7.87	32.62
25	55	55	85	25	70	10	40	100	−14.35	−14.71	−14.86	26.69
26	55	70	25	70	10	40	100	85	−65.01	−67.02	−69.24	13.46
27	55	85	70	10	40	100	85	25	−39.9	−41.59	−42.43	17.68
28	55	100	10	40	100	85	25	70	−6.83	−6.93	−6.99	33.20
29	70	10	70	70	70	70	70	70	−24.09	−24.66	−24.96	22.19
30	70	25	10	55	25	100	40	85	−26.58	−28.72	−30.01	20.91
31	70	40	55	25	100	40	85	10	−89.98	−89.98	−89.98	10.92
32	70	55	25	100	40	85	10	55	−5.42	−5.76	−5.96	34.86
33	70	70	100	40	85	10	55	25	−16.63	−16.93	−17.09	25.45
34	70	85	40	85	10	55	25	100	−22.44	−25.36	−27.41	21.99
35	70	100	85	10	55	25	100	40	−37.96	−38.11	−39.23	18.30
36	85	10	85	85	85	85	85	85	−24.73	−25.15	−25.37	22.01
37	85	25	100	10	70	40	25	55	−9.13	−9.38	−9.51	30.59
38	85	40	10	70	40	25	55	100	−28.02	−29.41	−30.18	20.69
39	85	55	70	40	25	55	100	10	−89.98	−89.98	−89.98	10.92
40	85	70	40	25	55	100	10	70	−4.45	−4.64	−4.75	36.72
41	85	85	25	55	100	10	70	40	−18.22	−18.46	−18.59	24.69
42	85	100	55	100	10	70	40	25	−34.53	−38.84	−41.59	18.31
43	100	10	100	100	100	100	100	100	−25.13	−25.46	−25.62	21.90
44	100	25	70	25	10	85	55	40	−44.8	−49.85	−52.76	16.15
45	100	40	25	10	85	55	40	70	−12.3	−12.53	−12.65	28.07
46	100	55	10	85	55	40	70	25	−28.45	−29.38	−29.86	20.68
47	100	70	85	55	40	70	25	10	−13.46	−14.2	−14.64	27.01
48	100	85	55	40	70	25	10	85	−3.76	−3.87	−3.94	38.27
49	100	100	40	70	25	10	85	55	−48.52	−49.12	−51.12	16.09