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Mathematical Problems in Engineering
Volume 2011 (2011), Article ID 397092, 18 pages
http://dx.doi.org/10.1155/2011/397092
Research Article

Proportional-Derivative Observer-Based Backstepping Control for an Underwater Manipulator

1Ocean Robotics and Intelligence Lab, Division of Ocean Systems Engineering, School of Mechanical, Aerospace and Systems Engineering, Korean Advanced Institute of Science and Technology, Daejeon 305-701, Republic of Korea
2Robotics Research Lab, Department of Engineering Design, Indian Institute of Technology Madras, Chennai 600 036, India

Received 5 June 2011; Accepted 31 August 2011

Academic Editor: Xing-Gang Yan

Copyright © 2011 M. Santhakumar. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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