Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

Table 1

Model parameters of the FSHV.

Parameter	Value	SI-unit
		m/s
		kg
		kgm^2
		kgm^2
		m
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s