id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
aiti-4142	Nguyen, Ngoc-Duc; Choi, Hyeung-Sik; Jin, Han-Sol; Jiafeng Huang; Lee, Jae-Heon	Robust Adaptive Depth Control of Hybrid Underwater Glider in Vertical Plane	2020	12	.pdf	application/pdf	5484	250	67	Substituting the control law (20) into the first derivative of the Lyapunov function (19) will result to: 2 2 12 2 1 1 2 2 2 2 2 2 2 2 2 2 2 2 ˆ ˆ( ) ( )eq eq e V k e k e k e sat e e Y a a P a           (21) 2 1 2 1 1 1 2 2 2 2 2 2ˆ( ) T q eqV k e e e e Y a a P a         (19) 2 2 2 2 2 1 2 2 ˆ ˆ ( )q eq e Y a k e e k sat       (20)	cache/aiti-4142.pdf	txt/aiti-4142.txt