Backstepping Control Strategy For An Underactuated X4-AUV

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Backstepping Control Strategy For An Underactuated X4-AUV

A nonlinear control method is considered for stabilizing all attitudes and positions (x, y or z) of an underactuated X4-AUV with four thrusters and six degrees-of-freedom (DOFs), in which the positions are stabilized according to the Lyapunov stability theory and angles are stabilized using backstep...

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Bibliographic Details
Main Authors:	Zainah, Md. Zain, Nur Fadzillah, Harun
Format:	Article
Language:	English
Published:	Penerbit Universiti Teknologi Malaysia 2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/9407/ http://umpir.ump.edu.my/id/eprint/9407/1/Backstepping%20Control%20Strategy%20For%20An%20Underactuated%20X4-Auv.pdf

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