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Table 2 Hydrodynamic dimensionless coefficients

From: Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles

\(X_{{\dot{u}}}\) \(Y_{{\dot{v}}}\) \(Z_{{\dot{w}}}\) \(K_{{\dot{p}}}\) \(M_{{\dot{q}}}\) \(N_{{\dot{r}}}\)
− 0.02 − 0.011 − 0.011 0 − 0.019 − 0.019
\(X_{uu}\) \(Y_{vv}\) \(Z_{ww}\) \(K_{pp}\) \(M_{qq}\) \(N_{rr}\)
− 0.004 − 0.055 − 0.055 0 − 0.001 − 0.001