The stabilization control of a position and all attitudes for an X4-AUV

Zainah Md Zain, Keigo Watanabe, Isaku Nagai, Kiyotaka Izumi

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

A nonholonomic controller has been already studied for stabilizing all of attitudes and a position of an X4-AUV (autonomous underwater vehicle) with four thrusters, in which x-position was stabilized according to the Lyapunov stability theory. In this paper, following the same approach as used in the previous research, a controller is further developed for stabilizing all of attitudes and y- or z-position of the vehicle. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers.

Original languageEnglish
Pages1265-1270
Number of pages6
Publication statusPublished - Dec 1 2010
EventJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan
Duration: Dec 8 2010Dec 12 2010

Other

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/1012/12/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

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  • Cite this

    Zain, Z. M., Watanabe, K., Nagai, I., & Izumi, K. (2010). The stabilization control of a position and all attitudes for an X4-AUV. 1265-1270. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.