A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV

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A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV

In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a parti...

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Bibliographic Details
Main Authors:	Zainah, Md. Zain, Watanabe, Keigo, Izumi, Kiyotaka, Nagai, Isaku
Format:	Article
Language:	English
Published:	Springer 2013
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/5572/ http://umpir.ump.edu.my/id/eprint/5572/1/scan0001.pdf

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