Nonlinear Reduced-Order Observer-Based Predictive Control for Diving of an Autonomous Underwater Vehicle

Table 1

Physical Parameters of REMUS AUV.

Description	Values	Units
	30.48	kg
Length	1.33	m
Beam	0.26	m
	0.177	Kg⋅m^2
	3.45	Kg⋅m^2
	3.45	Kg⋅m^2
Location of CG	(0,0,0.0196)	m
Location of BG	(−0.611,0,0)	m