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Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle...
In underwater vehicles controlled by thrusters and fins, effect of the AUV depth control could be seriously affected because of dead zone nonlinearity in steering gear transmission system. This paper takes a certain AUV as an example. In this paper, a nonlinear pid controller is desired in considering of the actuator being saturated; response speed of the actuator is improved through tracking differentiator;...
High resolution optical equipment needs a low noise environment, to realize high precision pointing and tracking function. However, the vehicular optical equipment will be influenced by the disturbance of vehicle body when the vehicle is moving. To solve this problem, a large stroke vibration isolation Hexapod platform with hydraulic actuator was proposed. A prototype platform and an experiment system...
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