Table 1 Main Features of AUV Prototype

From: Cascaded guidance, state estimation, and control for depth tracking of underactuated autonomous underwater vehicles

Parameters

Descriptions

Values

m

Vehicle mass

8.25 kg

Loa

Vehicle length

1.03 m

D

Vehicle diameter

0.14 m

W

Vehicle gravity

80.85 N

B

Vehicle buoyancy

82.85 N

Ixx

Inertial-X moment

0.0258 kg∙m2

Iyy

Inertial-Y moment

0.508 kg∙m2

Izz

Inertial-Z moment

0.508 kg∙m2

Dp

Propeller diameter

0.06 m

τ

Maximum force

70 N

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