Zainah, Md. Zain and M. R., Arshad and K. A., A. Rahim (2015) Double Integrator Model and Invariant Manifold Theory Algorithm for an X4-AUV. In: International Conferences on Electrical, Control and Computer Engineering (INECCE2015), 27-28 Oct 2015 , Kuantan, Pahang. . (Unpublished)
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Abstract
Autonomous underwater vehicle (X4-AUV) with four inputs and 6 degrees of freedom (DOFs) is an underactuated system and has a nonholonomic features. There exist various studies on nonholonomic underatuated control so far, but most of them are confined into the case of systems with two inputs and therefore there are a few studies for the systems with three or more inputs. Control approaches for nonholonomic systems have utilized canonical forms. A nonholonomic double integrator model is the one of canonical forms for nonholonomic systems. In this paper an algorithm for an extended double integrator with four inputs is presented. Then a control law for an X4-AUV in extended double integrator model is derived using invariant manifold theory. It is expected that each state of the controlled object will be converge smoothly to the origin by using this type of control.
| Item Type: | Conference or Workshop Item (Speech) |
|---|---|
| Uncontrolled Keywords: | Invariant Manifold, Nonholonomic System, Underactuated System, Extended Double Integrator |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Mrs. Neng Sury Sulaiman |
| Date Deposited: | 23 Nov 2015 06:59 |
| Last Modified: | 17 May 2018 03:12 |
| URI: | http://umpir.ump.edu.my/id/eprint/11345 |
| Download Statistic: | View Download Statistics |
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