Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV

Zainah, Md. Zain and Nurfadzillah, Harun and Nur Natasha, Hanipah and Norhafizah, Md. Zain (2017) Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV. Journal of Telecommunication, Electronic and Computer Engineering, 9 (2-3). pp. 1-7. ISSN 2180-1843 (Print); 2289-8131 (Online). (Published)

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In this paper, we are interested principally in dynamic modelling of an autonomous underwater vehicle (X4-AUV) while taking into account the high order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamic of a swimming structure. We deal with the design of two controllers, based on backstepping and sliding-mode control techniques to stabilize altitude and attitude of an underactuated X4-AUV. The designed controllers are: full backstepping control for attitude and altitude control, and partially slidingmode control for attitude combine with altitude backstepping control. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers.

Item Type: Article
Additional Information: Indexed by Scopus
Uncontrolled Keywords: Underactuated System; X4-AUV; Backstepping Control, Sliding-Mode Control
Subjects: G Geography. Anthropology. Recreation > GC Oceanography
T Technology > TC Hydraulic engineering. Ocean engineering
T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Faculty/Division: Faculty of Electrical & Electronic Engineering
Institute of Postgraduate Studies
Depositing User: Mrs Norsaini Abdul Samat
Date Deposited: 23 Mar 2020 03:32
Last Modified: 23 Mar 2020 03:32
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