An Improved Backstepping Controller with an LESO and TDs for Robust Underwater 3D Trajectory Tracking of a Turtle-Inspired Amphibious Spherical Robot

Engineering

• Closed Loop 20%
• Computer Simulation 20%
• Demonstrates 20%
• Design Process 20%
• Differentiator 100%
• Environmental Disturbance 40%
• Extended State Observer 100%
• Feedback Variable 20%
• Hydrodynamic Model 20%
• Model Uncertainty 20%
• Orientation Information 20%
• Outer Loop 20%
• Position Information 20%
• Robot 100%
• Simplifies 20%
• Tasks 40%

Chemical Engineering

• Backstepping 100%