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

ASJC Scopus subject areas

Artificial Intelligence
Information Systems

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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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