抄録
In this paper, we propose the X4-AUV which is a new model of autonomous underwater vehicles. This model is controlled by only four thrusters. Since the X4-AUV has underactuated and nonholonomic features, a kinematics based control law is first transformed into a chained form. Next, the transformed kinematic model is controlled by using a manifold. A backstepping method that is one of adaptive control methods based on Lyapunov methods combines the kinematics model and the dynamical model to construct the torque control of X4-AUV. Finally, computer simulations are shown to demonstrate the effectiveness of our approach.
