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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationSCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems
Pages1265-1270
Number of pages6
Publication statusPublished - 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

Fingerprint

Stabilization
Controllers
Autonomous underwater vehicles
Computer simulation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

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. In SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems (pp. 1265-1270)

The stabilization control of a position and all attitudes for an X4-AUV. / Zain, Zainah Md; Watanabe, Keigo; Nagai, Isaku; Izumi, Kiyotaka.

SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. p. 1265-1270.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Zain, ZM, Watanabe, K, Nagai, I & Izumi, K 2010, The stabilization control of a position and all attitudes for an X4-AUV. in SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. pp. 1265-1270, Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan, 12/8/10.
Zain ZM, Watanabe K, Nagai I, Izumi K. The stabilization control of a position and all attitudes for an X4-AUV. In SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. p. 1265-1270
Zain, Zainah Md ; Watanabe, Keigo ; Nagai, Isaku ; Izumi, Kiyotaka. / The stabilization control of a position and all attitudes for an X4-AUV. SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. pp. 1265-1270
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