Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme

Table 1

Unmanned underwater parameters.

Parameter	Symbol	Value	Unit
Mass		1.12
Arm length		0.141
Gravity		1.2
Inertia in X
Inertia in Y
Inertia in Z
Inertia of the rotors
Propeller drag constant
Propeller thrust constant