Optimal control with backstepping method for an underactuated X4-AUV
A nonlinear control method for stabilizing a X4-AUV which is underactuated system with four inputs and six degrees of freedom is presented in this research. The rotation and translation subsystems are managed using an optimal control approach combined with the backstepping method. We applied and com...
| Main Authors: | , , , , , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE Xplore
2024
|
| Subjects: | |
| Online Access: | https://umpir.ump.edu.my/id/eprint/46009/ |