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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 9
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Research Article
Proportional-Derivative Observer-Based Backstepping Control for an Underwater Manipulator
Figure 9
Time trajectories of the joint position errors for the circular trajectory in an uncertain and disturbed condition.
(a)
Tracking errors in PID
(b)
Observer errors in PID
(c)
Tracking errors in MRC
(d)
Observer errors in MRC