Double Integrator Model and Invariant Manifold Theory Algorithm for an X4-AUV

• Main Authors: Zainah, Md. Zain, M. R., Arshad, K. A., A. Rahim
• Format: Conference or Workshop Item
• Language: English
• Published: 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/11345/1/Double%20Integrator%20Model%20and%20Invariant%20Manifold%20Theory%20Algorithm%20for%20an%20X4-AUV.pdf; http://umpir.ump.edu.my/id/eprint/11345/

Autonomous underwater vehicle (X4-AUV) with four inputs and 6 degrees of freedom (DOFs) is an underactuated system and has a nonholonomic features. There exist various studies on nonholonomic underatuated control so far, but most of them are confined into the case of systems with two inputs and ther...