[4] [4] PEREZPINAL F J, CALDERON G, ARAUJOVARGAS I. Relative coupling strategy[C]IEEE International Electric Machines Drives Conference. Madison, WI, USA: IEEE, 2003.

[5] SHI H H, WU X, HUA L et al. The simulation research of synchronization control based on the virtual shaft con-trol and the relative coupling control[J]. Advanced Materials Research, 1049/1050, 1111-1115(2014).

[6] SHI T N, LIU H, GENG Q et al. Improved relative coupling control structure for multi-motor speed synchronous driving system[J]. IET Electric Power Applications, 10, 451-457(2016).

[8] ZHANG C F, XIAO M J, HE J. Multimotor improved relative coupling cooperative control based on sliding-mode controller[J]. Mathematical Problems in Engineering, 2020, 5638462(2020).

[12] KIM M J, BAEK W K, HA K N et al. Implementation of hovering AUV and its attitude control using PID controller[J]. Journal of Ocean Engineering and Technology, 30, 221-226(2016).

[17] LI J H, LEE M J, KANG H et al. Design, performanceevaluation and field test of a water jet tool for ROV trencher[J]. Journal of Marine Science and Engineering, 9, 296(2021).

[18] AUSTEFJORD K O, LARSEN L K S, HESTVIK M O et al. Modelling subsea ROV robotics using the moving frame method[J]. International Journal of Dynamics and Control, 7, 1306-1320(2019).