Present study consists the stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in control-affine form by applying a partial linearization technique and a dynamic controller based on Astolfi's discontinuous control is derived by transformations of coordinate and input to obtain globally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to controlling the origin of the system.
|Number of pages||10|
|Journal||Indian Journal of Marine Sciences|
|Publication status||Published - Feb 1 2012|
- Discontinuous control
- Underactuated X4-AUV
ASJC Scopus subject areas