Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/2805
Title: A New Backstepping Control Design Method for Autonomous Underwater Vehicle in Diving and Steering Plane
Authors: Rath, Biranchi Narayan
Subudhi, Bidyadhar
Filaretove, Vladimir
Zuev, Alexander
Keywords: Autonomous Underwater Vehicle (AUV)
Degree of Freedom (DOF)
Path following
Feedback linearisation
Back Stepping Controller
Issue Date: Nov-2017
Citation: IEEE Region 10 Conference TENCON 2017, Penang, Malaysia, 5 - 8 November, 2017
Abstract: In this paper a backstepping method has been designed for stabilization and control of an Autonomous Underwater Vehicle (AUV). In order to design the backsteeping controller the equations governing the dynamics of AUV are represented in strict feedback form. A three degree of freedom structure of a prototype AUV is used to verify the diving control problem and steering control problem, to achieve the tracking of desired depth profile and desired yaw orientation profile respectively.
Description: Copyright of this document belongs to proceedings publisher.
URI: http://hdl.handle.net/2080/2805
Appears in Collections:Conference Papers

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