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Title: Stabilization of an underactuated X4-AUV using a discontinuous control law
Authors: Zain, Zainah Md.
Watanabe, Keigo
Izumi, Kiyotaka
Nagai, Isaku
Keywords: Underactuated X4-AUV;Discontinuous control;Nonholonomic;Kinematic
Issue Date: Dec-2012
Publisher: NISCAIR-CSIR, India
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.
Page(s): 589-598
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.41(6) [December 2012]

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