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 |
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Title of host publication | 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
ISBN (Print) | 9781479978625 |
DOIs | |
Publication status | Published - Sep 8 2015 |
Event | 10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia Duration: May 31 2015 → Jun 3 2015 |
Other
Other | 10th Asian Control Conference, ASCC 2015 |
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Country | Malaysia |
City | Kota Kinabalu |
Period | 5/31/15 → 6/3/15 |
Keywords
- backstepping
- Lyapunov control theory
- nonlinear control
- PD controller
ASJC Scopus subject areas
- Control and Systems Engineering