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To overcome the disadvantages appeared in the application of some super-mini underwater robots, a simple improved design framework is proposed. A mechanical improvement scheme is proposed. An easy handle, powerful and computer aided software system including the closed-loop control algorithm is developed for solving the shortcomings that are existed in the(More)
In this paper, submarine's response model in vertical plane is transferred into state space model using ‘white box’ theory of linear system. Least square support vector machine (LS-SVM) is used to identify zigzag test of submarine's response model in vertical plane and the identification results verify the validity of this method. The(More)
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