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Direct Backstepping Method for Adaptive Nonlinear Depth Control of an AUV
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | 이계홍 | - |
| dc.contributor.author | 이판묵 | - |
| dc.contributor.author | 전봉환 | - |
| dc.date.accessioned | 2021-12-08T23:40:16Z | - |
| dc.date.available | 2021-12-08T23:40:16Z | - |
| dc.date.issued | 20060719 | - |
| dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/6703 | - |
| dc.description.abstract | This paper presents a direct backstepping method for depth control of an autonomous underwater vehicle (AUV) whose diving dynamics is in a certain non-affine pure-feedback form. Moreover, because of the highly nonlinear characteristics of dynamics of general underwater vehicles, certain unknown-bound unstructured uncertainty terms are also considered. Proposed control scheme can guarantee the semi-global uniformly ultimately bounded (SGUUB) property of the closed-loop control system. | - |
| dc.language | 영어 | - |
| dc.language.iso | ENG | - |
| dc.title | Direct Backstepping Method for Adaptive Nonlinear Depth Control of an AUV | - |
| dc.title.alternative | Direct Backstepping Method for Adaptive Nonlinear Depth Control of an AUV | - |
| dc.type | Conference | - |
| dc.citation.title | 6th Asian Control Conference 2006 | - |
| dc.citation.volume | 1 | - |
| dc.citation.number | 1 | - |
| dc.citation.startPage | 1 | - |
| dc.citation.endPage | 6 | - |
| dc.citation.conferenceName | 6th Asian Control Conference 2006 | - |
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