Integral Backstepping Controller for an Underactuated X4-AUV

The autonomous underwater vehicle (AUV) capability has great important tasks for navigating into abyssal zones and dangerous underwater mission. Mostly AUV has six degrees of freedom (DOF) in motion and is classified in an underactuated system. The underactuated system is a system with fewer inputs...

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Main Authors:	Zainah, Md. Zain, Nurfadzillah, Harun
Format:	Conference or Workshop Item
Language:	English English
Published:	2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/10548/ http://umpir.ump.edu.my/id/eprint/10548/1/Integral%20Backstepping%20Controller%20for%20an%20Underactuated%20X4-AUV.pdf http://umpir.ump.edu.my/id/eprint/10548/7/fkee-2015-zainah-Integral%20Backstepping.pdf

id	ump-10548
recordtype	eprints
spelling	ump-105482018-09-07T01:48:37Z http://umpir.ump.edu.my/id/eprint/10548/ Integral Backstepping Controller for an Underactuated X4-AUV Zainah, Md. Zain Nurfadzillah, Harun TK Electrical engineering. Electronics Nuclear engineering The autonomous underwater vehicle (AUV) capability has great important tasks for navigating into abyssal zones and dangerous underwater mission. Mostly AUV has six degrees of freedom (DOF) in motion and is classified in an underactuated system. The underactuated system is a system with fewer inputs than DOF. However, stabilizing an underactuated system is difficult tasks because of the nonlinear dynamic and model uncertainties. Thus, our aim is to obtain control algorithms using Integral Backstepping approach in order to stabilize the X4-AUV. The key idea of Integral Backstepping is to design a virtual controller by working together with the integration of tracking error. Numerical simulation results are given to show the validity and the good performances of the proposed method. 2016 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10548/1/Integral%20Backstepping%20Controller%20for%20an%20Underactuated%20X4-AUV.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/10548/7/fkee-2015-zainah-Integral%20Backstepping.pdf Zainah, Md. Zain and Nurfadzillah, Harun (2016) Integral Backstepping Controller for an Underactuated X4-AUV. In: Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2015, 11-13 October 2015 , Johor Bahru, Johor, Malaysia. pp. 1-5..
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Zainah, Md. Zain Nurfadzillah, Harun Integral Backstepping Controller for an Underactuated X4-AUV
description	The autonomous underwater vehicle (AUV) capability has great important tasks for navigating into abyssal zones and dangerous underwater mission. Mostly AUV has six degrees of freedom (DOF) in motion and is classified in an underactuated system. The underactuated system is a system with fewer inputs than DOF. However, stabilizing an underactuated system is difficult tasks because of the nonlinear dynamic and model uncertainties. Thus, our aim is to obtain control algorithms using Integral Backstepping approach in order to stabilize the X4-AUV. The key idea of Integral Backstepping is to design a virtual controller by working together with the integration of tracking error. Numerical simulation results are given to show the validity and the good performances of the proposed method.
format	Conference or Workshop Item
author	Zainah, Md. Zain Nurfadzillah, Harun
author_facet	Zainah, Md. Zain Nurfadzillah, Harun
author_sort	Zainah, Md. Zain
title	Integral Backstepping Controller for an Underactuated X4-AUV
title_short	Integral Backstepping Controller for an Underactuated X4-AUV
title_full	Integral Backstepping Controller for an Underactuated X4-AUV
title_fullStr	Integral Backstepping Controller for an Underactuated X4-AUV
title_full_unstemmed	Integral Backstepping Controller for an Underactuated X4-AUV
title_sort	integral backstepping controller for an underactuated x4-auv
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/10548/ http://umpir.ump.edu.my/id/eprint/10548/1/Integral%20Backstepping%20Controller%20for%20an%20Underactuated%20X4-AUV.pdf http://umpir.ump.edu.my/id/eprint/10548/7/fkee-2015-zainah-Integral%20Backstepping.pdf
first_indexed	2023-09-18T22:10:16Z
last_indexed	2023-09-18T22:10:16Z
_version_	1777414980945051648

Integral Backstepping Controller for an Underactuated X4-AUV

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