The design, control, and implementation of an autonomous underwater vehicle (AUV) for collecting hydrological information from plateau rivers and lakes are presented in this paper. The hardware and software structures of the control system were previously described. A novel sliding mode controller (SMC) with combinational reaching law of vertical hovering motion is proposed to improve the robustness and stability. The S-plane...

With the development of offshore wind energy in China, more and more offshore wind turbines are being constructed in rock-based sea areas. However, the large diameter and thin-walled steel rock-socketed monopiles are very scarce at present, and both the construction and design are very difficult. For the design, the dynamic safety during the whole lifetime of the wind turbine is difficult to guarantee. Dynamic safety of a turb...