Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach

Zainah Md Zain; Nurfadzillah Harun; Keigo Watanabe; Isaku Nagai

doi:10.1109/ASCC.2015.7244906

Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach

Zainah Md Zain, Nurfadzillah Harun, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes.

Original language	English
Title of host publication	2015 10th Asian Control Conference
Subtitle of host publication	Emerging Control Techniques for a Sustainable World, ASCC 2015
Editors	Hazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479978625
DOIs	https://doi.org/10.1109/ASCC.2015.7244906
Publication status	Published - Sep 8 2015
Event	10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia Duration: May 31 2015 → Jun 3 2015

Publication series

Name	2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Other

Other	10th Asian Control Conference, ASCC 2015
Country/Territory	Malaysia
City	Kota Kinabalu
Period	5/31/15 → 6/3/15

Keywords

Lyapunov control theory
PD controller
backstepping
nonlinear control

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ASCC.2015.7244906

Cite this

Zain, Z. M., Harun, N., Watanabe, K., & Nagai, I. (2015). Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach. In H. Selamat, H. R. H. Ramli, A. A. M. Faudzi, R. Z. A. Rahman, A. J. Ishak, A. C. Soh, & S. A. Ahmad (Eds.), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 [7244906] (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244906

Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach. / Zain, Zainah Md; Harun, Nurfadzillah; Watanabe, Keigo et al.

2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. ed. / Hazlina Selamat; Hafiz Rashidi Haruna Ramli; Ahmad Athif Mohd Faudzi; Ribhan Zafira Abdul Rahman; Asnor Juraiza Ishak; Azura Che Soh; Siti Anom Ahmad. Institute of Electrical and Electronics Engineers Inc., 2015. 7244906 (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zain, ZM, Harun, N, Watanabe, K & Nagai, I 2015, Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach. in H Selamat, HRH Ramli, AAM Faudzi, RZA Rahman, AJ Ishak, AC Soh & SA Ahmad (eds), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015., 7244906, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015, Institute of Electrical and Electronics Engineers Inc., 10th Asian Control Conference, ASCC 2015, Kota Kinabalu, Malaysia, 5/31/15. https://doi.org/10.1109/ASCC.2015.7244906

Zain ZM, Harun N, Watanabe K , Nagai I. Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach. In Selamat H, Ramli HRH, Faudzi AAM, Rahman RZA, Ishak AJ, Soh AC, Ahmad SA, editors, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. 7244906. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). https://doi.org/10.1109/ASCC.2015.7244906

Zain, Zainah Md ; Harun, Nurfadzillah ; Watanabe, Keigo et al. / Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach. 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. editor / Hazlina Selamat ; Hafiz Rashidi Haruna Ramli ; Ahmad Athif Mohd Faudzi ; Ribhan Zafira Abdul Rahman ; Asnor Juraiza Ishak ; Azura Che Soh ; Siti Anom Ahmad. Institute of Electrical and Electronics Engineers Inc., 2015. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

@inproceedings{1ea795f57c8a4bd1958841e94a55604d,

title = "Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach",

abstract = "An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes.",

keywords = "Lyapunov control theory, PD controller, backstepping, nonlinear control",

author = "Zain, {Zainah Md} and Nurfadzillah Harun and Keigo Watanabe and Isaku Nagai",

note = "Funding Information: Research Fellow of Japan Society for the Promotion of Science (JSPS). Damian Szmuc is enjoying a PhD fellowship of the National Scientific and Technical Research Council of Argentina (CONICET) and his visits to Kyoto when this collaboration took place were partially supported by JSPS KAKENHI Grant Number JP16H03344. Publisher Copyright: {\textcopyright} 2015 IEEE.; 10th Asian Control Conference, ASCC 2015 ; Conference date: 31-05-2015 Through 03-06-2015",

year = "2015",

month = sep,

day = "8",

doi = "10.1109/ASCC.2015.7244906",

language = "English",

series = "2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Hazlina Selamat and Ramli, {Hafiz Rashidi Haruna} and Faudzi, {Ahmad Athif Mohd} and Rahman, {Ribhan Zafira Abdul} and Ishak, {Asnor Juraiza} and Soh, {Azura Che} and Ahmad, {Siti Anom}",

booktitle = "2015 10th Asian Control Conference",

}

TY - GEN

T1 - Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach

AU - Zain, Zainah Md

AU - Harun, Nurfadzillah

AU - Watanabe, Keigo

AU - Nagai, Isaku

N1 - Funding Information: Research Fellow of Japan Society for the Promotion of Science (JSPS). Damian Szmuc is enjoying a PhD fellowship of the National Scientific and Technical Research Council of Argentina (CONICET) and his visits to Kyoto when this collaboration took place were partially supported by JSPS KAKENHI Grant Number JP16H03344. Publisher Copyright: © 2015 IEEE.

PY - 2015/9/8

Y1 - 2015/9/8

N2 - An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes.

AB - An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes.

KW - Lyapunov control theory

KW - PD controller

KW - backstepping

KW - nonlinear control

UR - http://www.scopus.com/inward/record.url?scp=84957688959&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84957688959&partnerID=8YFLogxK

U2 - 10.1109/ASCC.2015.7244906

DO - 10.1109/ASCC.2015.7244906

M3 - Conference contribution

AN - SCOPUS:84957688959

T3 - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

BT - 2015 10th Asian Control Conference

A2 - Selamat, Hazlina

A2 - Ramli, Hafiz Rashidi Haruna

A2 - Faudzi, Ahmad Athif Mohd

A2 - Rahman, Ribhan Zafira Abdul

A2 - Ishak, Asnor Juraiza

A2 - Soh, Azura Che

A2 - Ahmad, Siti Anom

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 10th Asian Control Conference, ASCC 2015

Y2 - 31 May 2015 through 3 June 2015

ER -

Comparison of an X4-AUV performance using a direct Lyapunov - PD controller and backstepping approach

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this