A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV

The autonomous underwater vehicle (AUV) mostly has fewer control inputs than the degree of freedoms (DOFs) in motion and be classified into underactuated system. It is difficult tasks to stabilize that system because of the highly nonlinear dynamic and model uncertainties. Hence, it usually require...

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书目详细资料
Main Authors: Nur Fadzillah, Harun, Zainah, Md. Zain
格式: Conference or Workshop Item
语言:English
出版: 2015
主题:
在线阅读:http://umpir.ump.edu.my/id/eprint/11343/1/A%20Backstepping%20Based%20Pid%20Controller%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf