A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV
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...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2013
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| Subjects: | |
| 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 |
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