TY - GEN
T1 - A nonholonomic control method for stabilizing an X4-AUV
AU - Zain, Zainah Md
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
AU - Nagai, Isaku
PY - 2011/12/1
Y1 - 2011/12/1
N2 - 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.
AB - 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.
KW - AUV
KW - Nonholonomic systems
KW - Underactuated control system
UR - http://www.scopus.com/inward/record.url?scp=84866706022&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:84866706022
SN - 9784990288051
T3 - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
SP - 407
EP - 410
BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
T2 - 16th International Symposium on Artificial Life and Robotics, AROB '11
Y2 - 27 January 2011 through 29 January 2011
ER -