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 language | English |
|---|---|
| Pages | 1265-1270 |
| Number of pages | 6 |
| Publication status | Published - Dec 1 2010 |
| Event | Joint 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 2010 → Dec 12 2010 |
Other
| Other | Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 |
|---|---|
| Country | Japan |
| City | Okayama |
| Period | 12/8/10 → 12/12/10 |
ASJC Scopus subject areas
- Artificial Intelligence
- Information Systems
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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.