Hierarchical sliding mode attitude control of a spherical underwater exploring robot
Aiming at the attitude control of the spherical underwater robot, the kinematics and dynamics of the underactuated attitude control adjusting system are analyzed, and its dynamics model is established. By using the differential homeomorphism transformation, the model was divided into two subsystems....
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| Format: | Article |
| Language: | English |
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JVE International
2020-06-01
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| Series: | Mathematical Models in Engineering |
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| Online Access: | https://www.jvejournals.com/article/21252 |