AN IMPROVED BACKSTEPPING CONTROLLER WITH AN LESO AND TDS FOR ROBUST UNDERWATER 3D TRAJECTORY TRACKING OF A TURTLE-INSPIRED AMPHIBIOUS SPHERICAL ROBOT

In this paper, a double closed-loop backstepping controller is designed for 3D trajectory tracking of a turtle-inspired amphibious spherical robot suffering from problems that include model uncertainties, environmental disturbances, and unmeasured velocity.The proposed controller scheme tackles three primary challenges: the differentiation explosio

Background: In recent years, innovation in oncology has created new challenges for pricing and reimbursement systems.Oncology medicines with multiple indications face a number of access challenges: (1) the number of assessments and administrative burden; (2) aligning price to different values of the same product; (3) managing clinical uncertainty a

EU goes through a realignment process in the context of the demise of multilateralism, yet the impact of this process on the Fitness 11 new Member States from Central and Eastern Europe (CEE) is rarely discussed.There is a persistent East-West divide in the EU that is mainly socio-economic, even though often narrated as a political divide between o

Frequency adjusting precision is an important performance indicator of miniaturized rubidium atomic clock (RAC) in some applications, such as the case in GPS disciplined RAC systems.This parameter is determined mainly by the resolution of digital phase-locked loop (PLL) in the frequency multiplier-synthesizer.To improve the frequency adjusting prec