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|Title:||Stabilization of an underactuated X4-AUV using a discontinuous control law|
|Authors:||Zain, Zainah Md.|
|Keywords:||Underactuated X4-AUV;Discontinuous control;Nonholonomic;Kinematic|
|Abstract:||Present study consists the stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in control-affine form by applying a partial linearization technique and a dynamic controller based on Astolfi's discontinuous control is derived by transformations of coordinate and input to obtain globally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to controlling the origin of the system.|
|ISSN:||0975-1033 (Online); 0379-5136 (Print)|
|Appears in Collections:||IJMS Vol.41(6) [December 2012]|
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