id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-730	Mitchell, A. J.; McGookin, E. W.; Murray-Smith, D. J.	Implementation of Sliding Mode Observer Based Reconfiguration in an Autonomous Underwater Vehicle	2005	7	.pdf	application/pdf	4426	214	66	� �� � ( ) ( ) ( ) (� � � � � � � � � � � � �� � � � � � � � M C D J M g1 10 0 � �) ( ) 0 0 � � � � � � � � � M B u 1 (1) where � �� � u v w p q r T, � �� � X Y Z � � � T, � �u � � �r s n T, B(�) is the nonlinear input matrix, C(�) is the matrix of Coriolis and Centripetal terms, D(�) is the damping matrix, g(�) is the vector of gravitational and buoyancy forces and moments, J(�) is the Euler transformation matrix, and M is the mass and inertia matrix. � � � �r c� , (7) � �M C D g B u� ( )� � � � �� � �( ) ( )r r r+ , (8) � ( )� � �� J .	cache/ap-730.pdf	txt/ap-730.txt