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NTIS 바로가기IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, v.20 no.5, 2015년, pp.2370 - 2378
Sangrok Jin (Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea) , Jihoon Kim (Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea) , Jongwon Kim (Dept. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea) , TaeWon Seo (Sch. of Mech. Eng., Yeungnam Univ., Gyeongsan, South Korea)
We introduce a new underwater robotic platform with a tilting thruster mechanism for hovering motion. The tilting thruster mechanism can implement six-degree-of-freedom (DOF) motion with only four thrusters, but tilting motion makes the system nonlinear. We designed a selective switching controller ...
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