Integral Backstepping Controller for an Underactuated X4-AUV

Zainah, Md. Zain and Nurfadzillah, Harun (2016) Integral Backstepping Controller for an Underactuated X4-AUV. In: Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2015, 11-13 October 2015 , Johor Bahru, Johor, Malaysia. pp. 1-5..

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The autonomous underwater vehicle (AUV) capability has great important tasks for navigating into abyssal zones and dangerous underwater mission. Mostly AUV has six degrees of freedom (DOF) in motion and is classified in an underactuated system. The underactuated system is a system with fewer inputs than DOF. However, stabilizing an underactuated system is difficult tasks because of the nonlinear dynamic and model uncertainties. Thus, our aim is to obtain control algorithms using Integral Backstepping approach in order to stabilize the X4-AUV. The key idea of Integral Backstepping is to design a virtual controller by working together with the integration of tracking error. Numerical simulation results are given to show the validity and the good performances of the proposed method.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Integral; Backstepping; Underactuated system; X4-AUV
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 05 Nov 2015 06:34
Last Modified: 07 Sep 2018 01:48
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