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

Table 2

Controller parameter settings for simulations.

PID controller parameters	Values	Proposed controller parameters	Values
𝐾𝑃	diag(60, 80, 75)	𝐾𝑃𝑅	diag(5, 10, 12)
𝐾𝐷	diag(35, 40, 50)	𝐾𝐷𝑅	diag(3, 5, 8)
𝐾𝐼	diag(1, 1.5, 2)
PD observer parameters
𝐿	diag(10, 16, 18)	𝐿𝐷𝑅	diag(8, 10, 11)