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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| Language: | en |
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Penerbit Universiti Teknologi Malaysia
2015
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| Online Access: | http://umpir.ump.edu.my/id/eprint/9407/1/Backstepping%20Control%20Strategy%20For%20An%20Underactuated%20X4-Auv.pdf http://umpir.ump.edu.my/id/eprint/9407/ http://www.jurnalteknologi.utm.my/index.php/jurnalteknologi/article/view/4804 |
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| author | Zainah, Md. Zain Nur Fadzillah, Harun |
| author_facet | Zainah, Md. Zain Nur Fadzillah, Harun |
| author_sort | Zainah, Md. Zain |
| building | UMPSA Library |
| collection | Institutional Repository |
| content_provider | Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source | UMPSA Institutional Repository |
| continent | Asia |
| country | Malaysia |
| 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 |
| id | my.ump.umpir.9407 |
| institution | Universiti Malaysia Pahang |
| language | en |
| publishDate | 2015 |
| publisher | Penerbit Universiti Teknologi Malaysia |
| record_format | eprints |
| spelling | my.ump.umpir.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). (Published) http://www.jurnalteknologi.utm.my/index.php/jurnalteknologi/article/view/4804 doi: 10.11113/jt.v74.4804 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Zainah, Md. Zain Nur Fadzillah, Harun Backstepping Control Strategy For An Underactuated X4-AUV |
| title | 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_short | Backstepping Control Strategy For An Underactuated X4-AUV
|
| title_sort | backstepping control strategy for an underactuated x4-auv |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/9407/1/Backstepping%20Control%20Strategy%20For%20An%20Underactuated%20X4-Auv.pdf http://umpir.ump.edu.my/id/eprint/9407/ http://www.jurnalteknologi.utm.my/index.php/jurnalteknologi/article/view/4804 |
| url_provider | http://umpir.ump.edu.my/ |