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 |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 2017_TENCON_BNRath_A New Backstepping.pdf | Conference Paper | 2.03 MB | Adobe PDF | View/Open |
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