Zainah, Md. Zain and Nur Fadzillah, Harun (2015) Backstepping Control Strategy For An Underactuated X4-AUV. Jurnal Teknologi (Sciences and Engineering), 74 (9). pp. 17-23. ISSN 0127-9696 (print); 2180-3722 (online)
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Abstract
A nonlinear control method is considered for stabilizing all attitudes and positions (x, y or z) of an underactuated X4-AUV with four thrusters and six degrees-of-freedom (DOFs), in which the positions are stabilized according to the Lyapunov stability theory and angles are stabilized using backstepping control method. A dynamical model is first derived, and then a sequential nonlinear control strategy is implemented for the X4-AUV, composed of translational and rotational subsystems. A controller for the translational subsystem stabilizes one position out of x-, y-, and z-coordinates, whereas controllers for the rotational subsystems generate the desired roll, pitch and yaw angles. Thus, the rotational controllers stabilize all the attitudes of the X4-AUV at a desired (x-, y- or z-) position of the vehicle. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers.
Item Type: | Article |
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Uncontrolled Keywords: | Underactuated system, X4-AUV, backstepping control, Lyapunov stability theory |
Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
Faculty/Division: | Faculty of Electrical & Electronic Engineering |
Depositing User: | Mrs. Neng Sury Sulaiman |
Date Deposited: | 29 Jul 2015 02:29 |
Last Modified: | 17 May 2018 03:08 |
URI: | http://umpir.ump.edu.my/id/eprint/9407 |
Download Statistic: | View Download Statistics |
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