Underwater Robots - Gianluca Antonelli.pdf

force [N]
moment [Nm]
20
10
0
−10
−20
−30
3.9 Numerical Comparison Among the Reduced Controllers 67
−40
0 50 100 150 200 250 300 350 400
20
10
0
−10
K
M
−20
0 50 100 150 200 250 300 350 400
time [s]
Fig. 3.7. Simulated force and moment for the reduced controller C
y [m]
0.5
0
A
C
−0.5
−0.5 0
x [m]
0.5
Fig. 3.8. Comparison of the position on the plane xy for the reduced controller A
and C
N
Z
X
Y