Mv qy qy nv qy qy qy fy uv

Vex Ve7

UBy umv

fox f0z

y x p e v and Av, By, Dv, Cv and sv are appropriate matrices and vector.

Fig. 5. Model of vertical type 2-link underwater robot Similarly, the RAC law (17) is reduced to

where jaref

Pv jaref

~des

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