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 -