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 language | English |
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| Title of host publication | Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 |
| Pages | 407-410 |
| Number of pages | 4 |
| Publication status | Published - Dec 1 2011 |
| Event | 16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan Duration: Jan 27 2011 → Jan 29 2011 |
Publication series
| Name | Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11 |
|---|
Other
| Other | 16th International Symposium on Artificial Life and Robotics, AROB '11 |
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| Country | Japan |
| City | Beppu, Oita |
| Period | 1/27/11 → 1/29/11 |
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).