Table 1 Inertial parameters
From: Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles
Mass (kg) | Length (m) | Max diameter (m) | Inertia \(( {\text{N}} \cdot {\text{m}} \cdot {\text{s}}^{2} )\) | ||
|---|---|---|---|---|---|
I x | I y | I z | |||
113 | 2.1 | 0.35 | 1.27 | 38.3 | 38.3 |