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 |
|---|---|
| Title of host publication | SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems |
| Pages | 1265-1270 |
| Number of pages | 6 |
| Publication status | Published - 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 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Information Systems
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - The stabilization control of a position and all attitudes for an X4-AUV
AU - Zain, Zainah Md
AU - Watanabe, Keigo
AU - Nagai, Isaku
AU - Izumi, Kiyotaka
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=80052459711&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052459711&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80052459711
SP - 1265
EP - 1270
BT - SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems
ER -