Research on Adaptive Sliding Mode Control of UVMS Based on Nonlinear Disturbance Observation

Table 1

Configuration parameters of UVMS thruster.

Number	Describe	X (m)	Y (m)	Z (m)	Vector angle
1	Stern left horizontal				15° to
2	Stern right horizontal				15° to
3	Stern left vertical				15° to
4	Stern right vertical				15° to