Point Stabilization for an Underactuated AUV in the Presence of Ocean Currents
This paper presents a state-feedback-based backstepping control algorithm to address the point stabilization (or set-point regulation) control problem for an underactuated autonomous underwater vehicle (AUV) in the presence of constant and irrotational ocean current disturbance. A nonlinear three de...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/61037 |