Optimal control with backstepping method for an underactuated X4-AUV

A nonlinear control method for stabilizing a X4-AUV which is underactuated system with four inputs and six degrees of freedom is presented in this research. The rotation and translation subsystems are managed using an optimal control approach combined with the backstepping method. We applied and com...

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Bibliographic Details

Main Authors:	Zainah, Md Zain, Wan Mohd Hafiz Shahrizan, Zaidi, Mohd Syakirin, Ramli, Hamzah, Ahmad, Mohd Shahrieel, Mohd Aras, Rozina, Abdul Rani
Format:	Conference or Workshop Item
Language:	en
Published:	IEEE Xplore 2024
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	https://umpir.ump.edu.my/id/eprint/46009/1/USYS2024%20-%20Optimal_Control_with_Backstepping_Method_for_an_Underactuated_X4-AUV.pdf https://umpir.ump.edu.my/id/eprint/46009/ https://doi.org/10.1109/USYS62456.2024.11116424
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