Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space

Table 2

Feedback values of stroke encoder.

Number	Input (m)	Initial cord length (m)	Final cord length (m)	Error (mm)
1	−0.01	0	−0.00942	−0.58
2	−0.1	−0.00942	−0.10951	0.09
3	−0.01	−0.10951	−0.11893	−0.58
4	0.1	−0.11893	−0.00942	9.51
5	−0.1	−0.00942	−0.10951	0.09
6	−0.01	0	−0.0106	0.6
7	−0.1	−0.0106	−0.11068	0.08
8	−0.01	−0.11068	−0.1201	−0.58
9	−0.1	−0.1201	−0.22019	0.09
10	−0.01	−0.22019	−0.22961	−0.58