Table 3.

Main parameters of UVMS

Items	Vehicle	Link 1	Link 2
m/kg	85.2	2.603	3.159
$I_{\mathit{xx}}/\text{kg}·m^2$	35.040	0.0062	0.177
$I_{\mathit{yy}}/\text{kg}·m^2$	2.140	0.0061	0.177
$I_{\mathit{zz}}/\text{kg}·m^2$	35.667	0.0071	0.0047
$I_{\mathit{xy}}/\text{kg}·m^2$	$-0.0063$	0	0
$I_{\mathit{xz}}/\text{kg}·m^2$	0	0	0
$I_{\mathit{yz}}/\text{kg}·m^2$	$-0.0233$	0	0.00559