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 - Dec 1 2011
Event16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan
Duration: Jan 27 2011Jan 29 2011

Publication series

NameProceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11

Other

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

Keywords

  • AUV
  • Nonholonomic systems
  • Underactuated control system

ASJC Scopus subject areas

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

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  • 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). (Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11).