Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach

Zainah, Md. Zain and Nur Fadzillah, Harun and Keigo, Watanabe and Isaku, Nagai (2015) Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach. In: The 10th Asian Control Conference (ASCC 2015) , 31 May-3 June 2015 , Kota Kinabalu, Sabah. pp. 1-6., 3 (4). ISSN 2301-3796

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Abstract

An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes.

Item Type:	Conference or Workshop Item (Speech)
Uncontrolled Keywords:	nonlinear control, backstepping, lyapunov control theory, PD controller
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 Nov 2015 02:57
Last Modified:	17 May 2018 03:10
URI:	http://umpir.ump.edu.my/id/eprint/6360
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