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 proceedingConference contribution

3 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 languageEnglish
Title of host publication2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479978625
DOIs
Publication statusPublished - Sep 8 2015
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: May 31 2015Jun 3 2015

Other

Other10th Asian Control Conference, ASCC 2015
CountryMalaysia
CityKota Kinabalu
Period5/31/156/3/15

Keywords

  • backstepping
  • Lyapunov control theory
  • nonlinear control
  • PD controller

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • 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 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 [7244906] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244906