Getting Information : Journal 1 : Power efficient dynamic station keeping control of a flat-fish type AUV through design modification of thruster configuration

This is the 1st journal I've read. I just come out with important point from the journal.

This journal consist of 8 section :
Section 2 : the dynamic model of the flat-fish AUV
Section 3 : Performance analysis of AUV with existing design
Section 4 : discusses the design modification and its significance
Section 5 : The stability analysis of controller for the proposed system
Section 6 : The performance analysis and power consumption  analysis
Section 7 : effect of additional thrusters on tracking performance
Section 8 : the conclusion and scope of future work are presented

1st point :
>>> The equations of motion of an underwater vehicle having six degrees of freedom with respect to a body-fixed frame :









MRB : rigid body mass matrix
CRB(V) :  theCoriolis and centripetal matrix
MA : added mass matrix
CA(V) : added Coriolis and centripetal matrix
DL : linear drag matrices
DQ|V| : quadratic drag matrices
g(n) : the resultant vector of gravity and bouyancy

2nd point :
>>> For the controller design and closed loop stability analysis, it is preferred to investigate the system with respect to the earth fixed frame of reference in order to maintain every state to a single reference frame.

3rd point :
>>> the arrangement of thruster in AUV.

>>> the rudder and stern control plans are ineffective during station keeping task , therefore it was decided to use the available two propulsion thruster and three vertical thruster for controlling depth pitch and yaw.

>>> two propulsion thruster are used to control surge and yaw.

>>> two aft maneuvering transfer are used for controlling heave and pitch motion.

>>> the roll axis state is asymptotically stable without any control inputs.

4th point :
>>> the station keeping controller used here is PID controller law is given as :

I've got the rough idea about my project from this journal. about the thrust and controller. something that I am not found yet is about the hull design.