Research on Coordinated Robotic Motion Control Based on Fuzzy Decoupling Method in Fluidic Environments

Table 3

The nondimensional hydrodynamic coefficients of the AUV.

𝑈	𝑁prop
	−6	−5	−4	−3	−2	−1	0	1	2	3	4	5	6
𝑌prop
−6	−2.13	−2.20	−2.13	−2.25	−2.13	−1.09	0.00	1.09	2.13	2.25	2.13	2.20	2.13
−5	−2.79	−2.79	−2.79	−2.85	−2.20	−1.09	0.00	1.09	2.20	2.85	2.79	2.79	2.79
−4	−3.16	−3.11	−3.16	−3.00	−2.13	−1.09	0.00	1.09	2.13	3.00	3.16	3.11	3.16
−3	−3.97	−3.97	−3.90	−3.00	−2.25	−1.07	0.00	1.07	2.25	3.00	3.90	3.97	3.97
−2	−4.85	−4.41	−3.91	−3.00	−2.13	−1.09	0.00	1.09	2.13	3.00	3.91	4.41	4.85
−1	−2.85	−2.94	−2.64	−2.41	−1.65	−1.09	0.00	1.09	1.65	2.41	2.64	2.94	2.85
0	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00	0.00
1	2.85	2.94	2.64	2.41	1.65	1.09	0.00	−1.09	−1.65	−2.41	−2.64	−2.94	−2.85
2	4.85	4.41	3.91	3.00	2.13	1.09	0.00	−1.09	−2.13	−3.00	−3.91	−4.41	−4.85
3	3.97	3.97	3.90	3.00	2.25	1.07	0.00	−1.07	−2.25	−3.00	−3.90	−3.97	−3.97
4	3.16	3.11	3.16	3.00	2.13	1.09	0.00	−1.09	−2.13	−3.00	−3.16	−3.11	−3.16
5	2.79	2.79	2.79	2.85	2.20	1.09	0.00	−1.09	−2.20	−2.85	−2.79	−2.79	−2.79
6	2.13	2.20	2.13	2.25	2.13	1.09	0.00	−1.09	−2.13	−2.25	−2.13	−2.20	−2.13