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Mathematical Problems in Engineering
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Mathematical Problems in Engineering
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2011
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Article
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Fig 4
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Research Article
Proportional-Derivative Observer-Based Backstepping Control for an Underwater Manipulator
Figure 4
Time trajectories of the task space (
) errors for the straight line trajectory in an ideal condition.
(a)
Position tracking errors in PID
(b)
Position observer errors in PID
(c)
Position tracking errors in MRC
(d)
Position observer errors in MRC