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Experimental Research of Spherical Underwater Robot Based on Fuzzy Sliding Mode Control System

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Figure

Figure 1. The spherical underwater robot.
Figure 3. Straight forward motion (a) 0 second; (b) 2 second; …; (i) 16 second.
Figure 3 (a) to Figure 3 (i) after 16 seconds. The intersection of black tiles in the pool is selected as the origin (O) of fixed coordinate system in Figure 3
Figure 5. Downward motion of underwater robot (a) 0 second; (b) 2 seconds; …; (f ) 10 seconds
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