A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV

In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a parti...

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Main Authors:	Zainah, Md. Zain, Watanabe, Keigo, Izumi, Kiyotaka, Nagai, Isaku
Format:	Article
Language:	English
Published:	Springer 2013
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/5572/ http://umpir.ump.edu.my/id/eprint/5572/ http://umpir.ump.edu.my/id/eprint/5572/ http://umpir.ump.edu.my/id/eprint/5572/1/scan0001.pdf

id	ump-5572
recordtype	eprints
spelling	ump-55722018-05-17T03:41:34Z http://umpir.ump.edu.my/id/eprint/5572/ A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV Zainah, Md. Zain Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku TK Electrical engineering. Electronics Nuclear engineering In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi’s discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a “chained form”, and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller Springer 2013 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/5572/1/scan0001.pdf Zainah, Md. Zain and Watanabe, Keigo and Izumi, Kiyotaka and Nagai, Isaku (2013) A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV. Artificial Life and Robotics, 17 (3). pp. 463-469. ISSN 1433-5298 (Print) 1614-7456 (Online) http://dx.doi.org/10.1007/s10015-012-0082-9 doi:10.1007/s10015-012-0082-9
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Zainah, Md. Zain Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV
description	In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi’s discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a “chained form”, and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller
format	Article
author	Zainah, Md. Zain Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku
author_facet	Zainah, Md. Zain Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku
author_sort	Zainah, Md. Zain
title	A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV
title_short	A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV
title_full	A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV
title_fullStr	A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV
title_full_unstemmed	A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV
title_sort	discontinuous exponential stabilization of chained form system for an x4-auv
publisher	Springer
publishDate	2013
url	http://umpir.ump.edu.my/id/eprint/5572/ http://umpir.ump.edu.my/id/eprint/5572/ http://umpir.ump.edu.my/id/eprint/5572/ http://umpir.ump.edu.my/id/eprint/5572/1/scan0001.pdf
first_indexed	2023-09-18T22:00:55Z
last_indexed	2023-09-18T22:00:55Z
_version_	1777414391804723200

A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV

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