Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space

Table 1

Parameters of the platform and hydraulic winch.

Parameter	Notation	Unit	Value
Length of platform	𝑎	m	25
Width of platform	𝑏	m	10
Height of platform	𝑐	m	1
Work depth of platform	ℎ	m	60
Radius of winch capstan	𝑟	m	0.768
Reduction ratio of winch	𝑛		536
Servo amplifier gain	𝐾1	A/V	0.125
Servo valve gain	𝐾2	m/A	0.01
Servo valve discharge coefficient	𝐶𝑑		0.61
Servo valve area gradient	𝜔	m	0.785
Supply pressure of pump	𝑃𝑆	Pa	1.5×10^7
Hydraulic oil density	𝜌	kg/m^3	850
Volumetric displacement of hydraulic motor	𝐷𝑚	mL/r	150
Total actuator volume	𝑉𝑚	m^3	1.47×10^−3
Effective bulk modulus of system	𝛽𝑒	Pa	7.0×10^8
Total leakage coefficient	𝐶𝑡𝑚	m^5/(N·s)	1.9×10^−11
Inertia of hydraulic motor and load	𝐽𝑚0	kg·m^2	192.0625
Viscous damping coefficient	𝐵𝑚0	N·s/m	800
External load torque	𝑇𝐿0	N·m	214.9254