Real-Time Disturbances Estimating and Compensating of Nonlinear Dynamic Model for Underwater Vehicles

Table 1

Principal dimensions of the underwater vehicle.

symbol	value	symbol	value	symbol	value
	43.7 kg		-27.08 kg		-61.117 kg/m^2
	0m		-25.952 kg		-139.81 kg/m^2
	0.026 m		-68.576 kg		-51.724 kg/m^2
	0.3319 kgm^2		-61.683 kgm^2/rad		-12 kgm^2/rad^2
	1.4844 kgm^2		-79.411 kgm^2/rad		-56.61 kgm^2/rad^2
	1.7596 kgm^2		-0.154 kgm^2/rad		-1.772 kgm^2/rad^2