Research Article

Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle

Table 1

(a) Stability derivatives in the longitudinal equations of motion for R-One. (b) Stability derivatives in the lateral equations of motion for R-One.
(a)

Xu̇(kg)-237.65Zu(kg/s)-64.41
Zẇ(kg)-2152.10Zw(kg/s)-2819.64
Zq̇(kg·m)-25547.00Zq(kg·m/s)-11360.06
Mu̇(kg·m)0.00Mu(kg·m/s)0.00
Mẇ(kg·m)-1928.80Mw(kg·m/s)870.36
Mq̇(kg·m2)-153400.00Mq(kg·m2/s)-39351.25
Xu(kg/s)-364.37Zδe(kg·m/s2)-3168.10
Xw(kg/s)64.72Mδe(kg·m2/s2)-10974.31
Xq(kg·m/s)0.00

(b)

Yv̇(kg)-4653.77Yr(kg·m/s)3931.06
Yṙ(kg)746.74Lv(kg·m/s)-515.99
Lv̇(kg·m)-1.31Lp(kg·m2/s)-1165.25
Lṗ(kg·m2)3.81Lr(kg·m2/s)1500.45
Lṙ(kg·m2)-3.35Nv(kg·m/s)-4054.37
Nv̇(kg·m)-554.21Np(kg·m2/s)-1.02
Nṗ(kg·m2)-1.19Nr(kg·m2/s)-13704.63
Nṙ(kg·m2)-15934.27Yδpr(kg·m/s2)-399.04
Yv(kg/s)-1809.97Lδpr(kg·m2/s2)0.00
Yp(kg·m/s)0.00Nδpr(kg·m2/s2)1677.38