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

Table 2

Hydrodynamic coefficients of the AUV.

Name	Symbol	Numerical	Unit
Quality		6783.1	kg
Length		5.720	m
Sea-water density		1.025	kg/m^3
Dimensionless coefficient of sway force		−39.854	10^−3
		12.567
		−25.704
		9.981
		−41.858
		10.435
		18.509
Dimensionless coefficient of yaw moment		−3.872
		−2.105
		17.480
		−6.463
		−2.878
		−9.436
		−9.754