Optimal Disturbances Rejection Control for Autonomous Underwater Vehicles in Shallow Water Environment

Table 1

Notation used for AUVs.

DOF	Motion/rotation description	Forces/moments	Linear/angular velocities	Positions/Euler angles
1	In -direction; (surge)
2	In -direction; (sway)
3	In -direction; (heave)
4	About -axis; (roll)
5	About -axis; (pitch)		q
6	About -axis; (yaw)	N