Autonomous Underwater vehicles (AUV) is one of an unmanned underwater vehicle (UUV) that work independentlyudand can be control automatically on board without requiring a cable. The autonomous capability has great importantudtasks due to navigate in abyss zones and dangerous underwater mission. However, in order to stabilize the systemudconsists of four control inputs and six degree of freedoms (DOFs) is difficult tasks because of the nonlinear dynamicudand model uncertainties. This paper presents the stabilization of underactuated X4-AUV using nonlinear controludtechniques, integral backstepping. The key idea of integral backstepping is to design a virtual controller for eachudsubsystem by associate with integral of tracking error. The effectiveness of the proposed control techniqueuddemonstrates by simulation.
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