Research Article

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

Table 2

Feedback values of stroke encoder.

NumberInput (m)Initial cord length (m)Final cord length (m) Error (mm)

1−0.010−0.00942−0.58
2−0.1−0.00942−0.109510.09
3−0.01−0.10951−0.11893−0.58
40.1−0.11893−0.009429.51
5−0.1−0.00942−0.109510.09
6−0.010−0.01060.6
7−0.1−0.0106−0.110680.08
8−0.01−0.11068−0.1201−0.58
9−0.1−0.1201−0.220190.09
10−0.01−0.22019−0.22961−0.58