A nonholonomic control method for stabilizing an X4-AUV

A nonholonomic control method is considered for stabilizing all attitudes and positions ( x , y , or z ) of an underactuated X4 autonomous underwater vehicle (AUV) with four thrusters and six degrees of freedom (DOF), in which the positions are stabilized according to the Lyapunov stability theory....

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Veröffentlicht in:	Artificial life and robotics 2011-09, Vol.16 (2), p.202-207
Hauptverfasser:	Zain, Zainah Md, Watanabe, Keigo, Izumi, Kiyotaka, Nagai, Isaku
Format:	Artikel
Sprache:	eng
Schlagworte:	Artificial Intelligence Autonomous underwater vehicles Computation by Abstract Devices Computer Science Control Degrees of freedom Dynamic models Mathematical analysis Mechatronics Original Article Robotics Rotational Strategy Thrusters Yaw
Online-Zugang:	Volltext
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