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Adaptive fuzzy hierarchical sliding mode controller for AUV lacking compliant structure
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The recent international marine vehicles that have been published are mostly three-level floating ship models: Motion in the 0x,0y direction and the ship's navigation angle. Current, researches on Autonomous Underwater Vehicles are very modest, with the addition of a motion component in the 0z direction and a navigation angle with the intention of making the device capable of diving.
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