Modeling and Three-Layer Adaptive Diving Control of a Cable-Driven Underwater Parallel Platform
This paper focuses on the modeling, diving controller design, and experiment of a special cable-driven underwater parallel platform with eight-cable coupling drive structure. Kinematic and dynamic models of the platform are established utilizing a simplified approach, and the hydraulic driven contro...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2018-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8329962/ |