Research Article
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 |
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