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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/5572/1/scan0001.pdf
http://umpir.ump.edu.my/id/eprint/5572/
http://dx.doi.org/10.1007/s10015-012-0082-9
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spelling my.ump.umpir.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
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
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/5572/1/scan0001.pdf
http://umpir.ump.edu.my/id/eprint/5572/
http://dx.doi.org/10.1007/s10015-012-0082-9
_version_ 1643665215023218688
score 13.211869

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