TABLE 2.

AUV model parameters.

Parameter	Description	Value
Mass and Coriolis matrix
m	Mass	18
$Z_g$	COG relative to CO	0.01
$I_x$	Moment of inertia, roll	0.0405
$I_y$	Moment of inertia, pitch	1.070
$I_z$	Moment of inertia, yaw	1.070
$X_{\dot{u}}$	Added mass, surge	−1.029
$Y_{\dot{v}}$	Added mass, sway	−16.153
$Z_{\dot{w}}$	Added mass, heave	−16.153
$K_{\dot{p}}$	Added mass, roll	0
$M_{\dot{q}}$	Added mass, pitch	−0.758
$N_{\dot{r}}$	Added mass, yaw	−0.758
Damping matrix
$X_u$	Linear damping, surge	−2.4
$Y_v$	Linear damping, sway	−23
$Z_w$	Linear damping, heave	−23
$K_p$	Linear damping, roll	−0.3
$M_q$	Linear damping, pitch	−9.7
$N_r$	Linear damping, yaw	−9.7
$Y_r$	Linear damping, yaw on sway	11.5
$Z_q$	Linear damping, pitch on heave	−11.5
$M_w$	Linear damping, heave on pitch	3.1
$N_v$	Linear damping, sway on yaw	−3.1
$X_{u\left|u\right|}$	Nonlinear damping, surge	−2.4
$Y_{v\left|v\right|}$	Nonlinear damping, sway	−80
$Z_{w\left|w\right|}$	Nonlinear damping, heave	−80
$K_{p\left|p\right|}$	Nonlinear damping, roll	−6.4e-4
$M_{q\left|q\right|}$	Nonlinear damping, pitch	−9.1
$N_{r\left|r\right|}$	Nonlinear damping, yaw	−9.1
$Y_{r\left|r\right|}$	Nonlinear damping, yaw on sway	0.3
$Z_{q\left|q\right|}$	Nonlinear damping, pitch on heave	−0.3
$M_{w\left|w\right|}$	Nonlinear damping, heave on pitch	1.5
$N_{v\left|v\right|}$	Nonlinear damping, sway on yaw	−1.5
$Y_{u{v}_f}$	Fin lift, sway	−19.2
$Z_{u{w}_f}$	Fin lift, heave	−19.2
$M_{u{q}_f}$	Fin lift, pitch	−3.072
$N_{u{q}_f}$	Fin lift, yaw	−3.072
$Y_{u{r}_f}$	Fin lift, yaw on sway	7.68
$Z_{u{q}_f}$	Fin lift, pitch on heave	−7.68
$M_{u{w}_f}$	Fin lift, heave on pitch	−7.68
$N_{u{v}_f}$	Fin lift, sway on yaw	7.68
$Y_{u{v}_b}$	Body lift, sway	−10.956
$Z_{u{w}_b}$	Body lift, heave	−10.956
$M_{u{w}_b}$	Body lift, heave on pitch	−3.309
$N_{u{v}_b}$	Body lift, sway on yaw	3.309
Restoring force matrix
W	Weight	176.58
B	Buoyancy	177.58
Control force matrix
$Y_{uu{\delta }_r}$	Rudder fin on sway	19.2
$N_{uu{\delta }_r}$	Rudder fin on yaw	7.68
$Z_{uu{\delta }_s}$	Elevator fin on heave	−19.2
$M_{uu{\delta }_s}$	Elevator fin on pitch	−7.68