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Table 1 Hydrodynamic parameters

From: Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle

  Surge Lateral Heave Roll Pitch Yaw
Linear drag (N·s/m) 725 1240 825 3000 3000 1840
Quad. drag (N·s2/m2) 1000 525 400 100 100 72
Added mass (kg) 4380 9518 4268 5000 5000 5000