Nur Fadzillah, Harun and Zainah, Md. Zain (2015) Integral Backstepping Control for Stabilizing an Underactuated X4-AUV. In: International Conference on Innovation in Science and Technology (IICIST 2015) , 20 Apr 2015 , Kuala Lumpur. . (Unpublished)
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Abstract
Autonomous Underwater vehicles (AUV) is one of an unmanned underwater vehicle (UUV) that work independently and can be control automatically on board without requiring a cable. The autonomous capability has great important tasks due to navigate in abyss zones and dangerous underwater mission. However, in order to stabilize the system consists of four control inputs and six degree of freedoms (DOFs) is difficult tasks because of the nonlinear dynamic and model uncertainties. This paper presents the stabilization of underactuated X4-AUV using nonlinear control techniques, integral backstepping. The key idea of integral backstepping is to design a virtual controller for each subsystem by associate with integral of tracking error. The effectiveness of the proposed control technique demonstrates by simulation.
| Item Type: | Conference or Workshop Item (Speech) |
|---|---|
| Uncontrolled Keywords: | X4-AUV; Underactuated systems; Integral Backstepping |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Mrs. Neng Sury Sulaiman |
| Date Deposited: | 04 Dec 2015 01:39 |
| Last Modified: | 17 May 2018 01:01 |
| URI: | http://umpir.ump.edu.my/id/eprint/10915 |
| Download Statistic: | View Download Statistics |
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