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 |
|---|---|
| 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 - 2011 |
| Event | 16th International Symposium on Artificial Life and Robotics, AROB '11 - Beppu, Oita, Japan Duration: Jan 27 2011 → Jan 29 2011 |
Other
| Other | 16th International Symposium on Artificial Life and Robotics, AROB '11 |
|---|---|
| Country | Japan |
| City | Beppu, Oita |
| Period | 1/27/11 → 1/29/11 |
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Keywords
- AUV
- Nonholonomic systems
- Underactuated control system
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
Cite this
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 proceeding › Conference contribution
}
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
Y1 - 2011
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
UR - http://www.scopus.com/inward/citedby.url?scp=84866706022&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9784990288051
SP - 407
EP - 410
BT - Proceedings of the 16th International Symposium on Artificial Life and Robotics, AROB 16th'11
ER -