A nonholonomic control method for stabilizing an X4-AUV

Zainah Md Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A nonholonomic control method is considered for stabilizing all attitudes and positions (x, y or z) of an X4-AUV with four thrusters and six degrees-of-freedom (DOF), in which the positions were stabilized according to the Lyapunov stability theory. The derived model is dynamically unstable, so 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.

Original languageEnglish
Title of host publicationProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
Pages407-410
Number of pages4
Publication statusPublished - 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Other

Other16th International Symposium on Artificial Life and Robotics, AROB '11
CountryJapan
CityBeppu, Oita
Period1/27/111/29/11

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Controllers

Keywords

  • AUV
  • Nonholonomic systems
  • Underactuated control system

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Zain, Z. M., Watanabe, K., Izumi, K., & Nagai, I. (2011). A nonholonomic control method for stabilizing an X4-AUV. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 (pp. 407-410)

A nonholonomic control method for stabilizing an X4-AUV. / Zain, Zainah Md; Watanabe, Keigo; Izumi, Kiyotaka; Nagai, Isaku.

Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. p. 407-410.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zain, ZM, Watanabe, K, Izumi, K & Nagai, I 2011, A nonholonomic control method for stabilizing an X4-AUV. in Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. pp. 407-410, 16th International Symposium on Artificial Life and Robotics, AROB '11, Beppu, Oita, Japan, 1/27/11.
Zain ZM, Watanabe K, Izumi K, Nagai I. A nonholonomic control method for stabilizing an X4-AUV. In Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. p. 407-410
Zain, Zainah Md ; Watanabe, Keigo ; Izumi, Kiyotaka ; Nagai, Isaku. / A nonholonomic control method for stabilizing an X4-AUV. Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11. 2011. pp. 407-410
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