Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach
An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulat...
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| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Engineering and Technology Publishing
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/6360/1/Comparison%20of%20an%20X4-AUV%20Performance%20Using%20A%20Direct%20Lyapunov%20-%20PD%20Controller%20and%20Backstepping%20Approach.pdf http://umpir.ump.edu.my/id/eprint/6360/ http://dx.doi.org/10.1109/ASCC.2015.7244906 |
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