Chinese Journal of Mechanical Engineering

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

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