Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV

• Main Authors: Zainah, Md. Zain, Nurfadzillah, Harun, Nur Natasha, Hanipah, Norhafizah, Md. Zain
• Format: Article
• Language: English
• Published: UTeM 2017
• Subjects: GC Oceanography; TC Hydraulic engineering. Ocean engineering; TK Electrical engineering. Electronics Nuclear engineering; TL Motor vehicles. Aeronautics. Astronautics
• Online Access: http://umpir.ump.edu.my/id/eprint/27029/1/Backstepping%20and%20sliding-mode%20methods%20for%20stabilizing%20an%20underactuated.pdf; http://umpir.ump.edu.my/id/eprint/27029/; http://journal.utem.edu.my/index.php/jtec/article/view/2264

In this paper, we are interested principally in dynamic modelling of an autonomous underwater vehicle (X4-AUV) while taking into account the high order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamic of a sw...