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

• 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/5572/1/scan0001.pdf; http://umpir.ump.edu.my/id/eprint/5572/; http://dx.doi.org/10.1007/s10015-012-0082-9
• Institution: Universiti Malaysia Pahang

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...