Finite Time Controller for Point Stabilization of a Spherical Underwater Roving Robot

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/8606570/figures/8606570.fig.009a.svgz" name="8606570.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>GY-80 nine-axis digital gyroscope</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/8606570/figures/8606570.fig.009b.svgz" name="8606570.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Micronav navigation system</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/8606570/figures/8606570.fig.009c.svgz" name="8606570.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Ultrasonic displacement sensor</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/8606570/figures/8606570.fig.009d.svgz" name="8606570.fig.009d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Underwater camera</td></tr></table>

Mathematical Problems in Engineering

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Figure 9

Figure 9: Finite Time Controller for Point Stabilization of a Spherical Underwater Roving Robot 