Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control

Table 1

Parameters of our AUV used in the experimental test.

Notation	Description	Value	Units
	Mexibot mass	1.79	[kg]
	Inertia moment with respect to -axis	0.001	[kg m^2]
	Inertia moment with respect to -axis	0.001	[kg m^2]
	Inertia moment with respect to -axis	0.001	[kg m^2]
	Distance between the AUV center of mass and the position of the fin 1 in axis	0.263	[m]
	Distance between the AUV center of mass and the position of the fin 1 in axis	0.149	[m]
	Distance between the AUV center of mass and the position of the fin 2 in axis	0.199	[m]
	Fin length	0.190	[m]
	Fin width 1	0.049	[m]
	Fin width 2	0.068	[m]
	Water density	1000	[kg/m^3]