A New Backstepping Control Design Method for Autonomous Underwater Vehicle in Diving and Steering Plane

Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/2805

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DC Field	Value	Language
dc.contributor.author	Rath, Biranchi Narayan	-
dc.contributor.author	Subudhi, Bidyadhar	-
dc.contributor.author	Filaretove, Vladimir	-
dc.contributor.author	Zuev, Alexander	-
dc.date.accessioned	2017-11-29T06:51:38Z	-
dc.date.available	2017-11-29T06:51:38Z	-
dc.date.issued	2017-11	-
dc.identifier.citation	IEEE Region 10 Conference TENCON 2017, Penang, Malaysia, 5 - 8 November, 2017	en_US
dc.identifier.uri	http://hdl.handle.net/2080/2805	-
dc.description	Copyright of this document belongs to proceedings publisher.	en_US
dc.description.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.	en_US
dc.subject	Autonomous Underwater Vehicle (AUV)	en_US
dc.subject	Degree of Freedom (DOF)	en_US
dc.subject	Path following	en_US
dc.subject	Feedback linearisation	en_US
dc.subject	Back Stepping Controller	en_US
dc.title	A New Backstepping Control Design Method for Autonomous Underwater Vehicle in Diving and Steering Plane	en_US
dc.type	Article	en_US
Appears in Collections:	Conference Papers

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