Research Article
Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System
Table 3
The values of hydrodynamic coefficients calculated using empirical relations based on strip theory.
| | Vehicle added mass derivatives |
| | −1.17 kg | | −0.1 kgm/rad | | −34.84 kg | | −1.03 kgm | | 1.04 kgm | | −2.66 kgm/rad | | −34.83 kg | | −1.04 kgm | | −1.04 kgm | | −2.65 kgm/rad |
| | Vehicle hydrodynamic parameters |
| | −7.365 kg/m | | −2.12 kg/s | | −0.737 kg/m | | −0.31 kg/s | | −0.737 kg/m | | −0.31 kg/s | | −1.065 kgm/rad | | −0.51 kgm/s | | −1.065 kgm/rad | | −0.51 kgm/s | | −112.2 kg/m | | −62.45 kg/s | | 0.250 kgm/rad | | 0.12 kgm/s | | −112.2 kg/m | | −62.45 kg/s | | −0.250 kgm/rad | | 0.12 kgm/s | | −0.5975 kgm2/rad2 | | −0.3125 kgm2/s | | 2.244 kgm/rad | | 1.2 kgm/s | | −119.5 kgm2/rad2 | | −59.75 kgm2/s | | −2.244 kgm/rad | | 1.2 kgm/s |
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