Backstepping Control Strategy For An Underactuated X4-AUV

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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
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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