Modifications of Control Loop to Improve the Depth Response of Autonomous Underwater Vehicles

Table 1

AUV parameters.

Parameters	Value
Length	2.75 m
Buoyancy ()	208.3 kg
Center of buoyancy () (from the tip of nose)	1.25 m
Moment of inertia ()	2.636 kg·m^2
Moment of inertia ()	90.89 kg·m^2
Moment of inertia ()	90.89 kg·m^2
Proportional controller ()	2.6
Distance between CG and CB ()	3.5 mm
Distance between CG and CB ()	0.0 mm
Operating speed	12 kn