Motion control research of underwater spherical robot
Underwater spherical robot motion control can be used to simulate satellite motion control under weightlessness. In this paper, firstly the motion equation of spherical robot is established by force analysis. Then, to solve the nonlinear and control channel coupling problems, the CMAC-PID control al...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2018-01-01
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| Series: | Systems Science & Control Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/21642583.2018.1526136 |