Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach.
Zainah Md. ZainNurFadzillah HarunKeigo WatanabeIsaku NagaiPublished in: ASCC (2015)
Keyphrases
- control law
- closed loop
- nonlinear systems
- control scheme
- adaptive control
- control system
- control strategy
- control theory
- controller design
- control algorithm
- lyapunov function
- dynamical systems
- optimal control
- tracking error
- fuzzy controller
- lyapunov stability theory
- adaptive fuzzy
- stability analysis
- pid controller
- feedback control
- asymptotic stability
- robust stability
- motion planning
- fuzzy model
- cooperative
- adaptive neural
- autonomous robots
- control method
- robot manipulators
- neural network
- pi controller
- networked control systems
- real time