Backstepping Control Strategy For An Underactuated X4-AUV

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 backstep...

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Main Authors:	Zainah, Md. Zain, Nur Fadzillah, Harun
Format:	Article
Language:	English
Published:	Penerbit Universiti Teknologi Malaysia 2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/9407/ http://umpir.ump.edu.my/id/eprint/9407/ http://umpir.ump.edu.my/id/eprint/9407/ http://umpir.ump.edu.my/id/eprint/9407/1/Backstepping%20Control%20Strategy%20For%20An%20Underactuated%20X4-Auv.pdf

id	ump-9407
recordtype	eprints
spelling	ump-94072018-05-17T03:08:21Z http://umpir.ump.edu.my/id/eprint/9407/ Backstepping Control Strategy For An Underactuated X4-AUV Zainah, Md. Zain Nur Fadzillah, Harun TK Electrical engineering. Electronics Nuclear engineering 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. Penerbit Universiti Teknologi Malaysia 2015 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9407/1/Backstepping%20Control%20Strategy%20For%20An%20Underactuated%20X4-Auv.pdf 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) http://www.jurnalteknologi.utm.my/index.php/jurnalteknologi/article/view/4804 doi: 10.11113/jt.v74.4804
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 Nur Fadzillah, Harun Backstepping Control Strategy For An Underactuated X4-AUV
description	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.
format	Article
author	Zainah, Md. Zain Nur Fadzillah, Harun
author_facet	Zainah, Md. Zain Nur Fadzillah, Harun
author_sort	Zainah, Md. Zain
title	Backstepping Control Strategy For An Underactuated X4-AUV
title_short	Backstepping Control Strategy For An Underactuated X4-AUV
title_full	Backstepping Control Strategy For An Underactuated X4-AUV
title_fullStr	Backstepping Control Strategy For An Underactuated X4-AUV
title_full_unstemmed	Backstepping Control Strategy For An Underactuated X4-AUV
title_sort	backstepping control strategy for an underactuated x4-auv
publisher	Penerbit Universiti Teknologi Malaysia
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/9407/ http://umpir.ump.edu.my/id/eprint/9407/ http://umpir.ump.edu.my/id/eprint/9407/ http://umpir.ump.edu.my/id/eprint/9407/1/Backstepping%20Control%20Strategy%20For%20An%20Underactuated%20X4-Auv.pdf
first_indexed	2023-09-18T22:07:57Z
last_indexed	2023-09-18T22:07:57Z
_version_	1777414834951815168

Backstepping Control Strategy For An Underactuated X4-AUV

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