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Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach

An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulat...

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Main Authors: Zainah, Md. Zain, Nur Fadzillah, Harun, Keigo, Watanabe, Isaku, Nagai
Format: Conference or Workshop Item
Language:English
Published: Engineering and Technology Publishing 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/6360/1/Comparison%20of%20an%20X4-AUV%20Performance%20Using%20A%20Direct%20Lyapunov%20-%20PD%20Controller%20and%20Backstepping%20Approach.pdf
http://umpir.ump.edu.my/id/eprint/6360/
http://dx.doi.org/10.1109/ASCC.2015.7244906
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spelling my.ump.umpir.63602018-05-17T03:10:35Z http://umpir.ump.edu.my/id/eprint/6360/ Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach Zainah, Md. Zain Nur Fadzillah, Harun Keigo, Watanabe Isaku, Nagai TK Electrical engineering. Electronics Nuclear engineering An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes. Engineering and Technology Publishing 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6360/1/Comparison%20of%20an%20X4-AUV%20Performance%20Using%20A%20Direct%20Lyapunov%20-%20PD%20Controller%20and%20Backstepping%20Approach.pdf Zainah, Md. Zain and Nur Fadzillah, Harun and Keigo, Watanabe and Isaku, Nagai (2015) Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach. In: The 10th Asian Control Conference (ASCC 2015), 31 May-3 June 2015 , Kota Kinabalu, Sabah. pp. 1-6., 3 (4). ISSN 2301-3796 http://dx.doi.org/10.1109/ASCC.2015.7244906 DOI: 10.12720/jomb.3.4.306-310
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
Nur Fadzillah, Harun
Keigo, Watanabe
Isaku, Nagai
Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach
description An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes.
format Conference or Workshop Item
author Zainah, Md. Zain
Nur Fadzillah, Harun
Keigo, Watanabe
Isaku, Nagai
author_facet Zainah, Md. Zain
Nur Fadzillah, Harun
Keigo, Watanabe
Isaku, Nagai
author_sort Zainah, Md. Zain
title Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach
title_short Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach
title_full Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach
title_fullStr Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach
title_full_unstemmed Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach
title_sort comparison of an x4-auv performance using a direct lyapunov - pd controller and backstepping approach
publisher Engineering and Technology Publishing
publishDate 2015
url http://umpir.ump.edu.my/id/eprint/6360/1/Comparison%20of%20an%20X4-AUV%20Performance%20Using%20A%20Direct%20Lyapunov%20-%20PD%20Controller%20and%20Backstepping%20Approach.pdf
http://umpir.ump.edu.my/id/eprint/6360/
http://dx.doi.org/10.1109/ASCC.2015.7244906
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score 13.211869

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