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

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

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 conference › Paper › peer-review

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/Territory	Japan
City	Okayama
Period	12/8/10 → 12/12/10

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.

2010. 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.

Research output: Contribution to conference › Paper › peer-review

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

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ASJC Scopus subject areas

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