Underactuated control for an X4-AUV using partial linearization and attitude linearization

Keigo Watanabe; Satoru Takisawa; Isaku Nagai

doi:10.1109/ICCAS.2013.6704109

Underactuated control for an X4-AUV using partial linearization and attitude linearization

Keigo Watanabe, Satoru Takisawa, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

An autonomous underwater vehicle with four thrusters is reexamined from the viewpoints of derivation of a time-varying model. First, a bilinear model can be derived without depending on a chained form transformation, instead depending on partial linearization in inputs and on linearization of partial attitudes. Next, it can be transformed into a time-varying system that includes partially discontinuous states, and then an exponentially stabilizing method can be applied to its model to solve a stabilization problem. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed method.

Original language	English
Title of host publication	ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
Pages	1425-1430
Number of pages	6
DOIs	https://doi.org/10.1109/ICCAS.2013.6704109
Publication status	Published - Dec 1 2013
Event	2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of Duration: Oct 20 2013 → Oct 23 2013

Publication series

Name	International Conference on Control, Automation and Systems
ISSN (Print)	1598-7833

Other

Other	2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
Country	Korea, Republic of
City	Gwangju
Period	10/20/13 → 10/23/13

Keywords

Autonomous underwater vehicles (AUV)
Nonholonomic systems
Underactuated control

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICCAS.2013.6704109

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Underactuated control for an X4-AUV using partial linearization and attitude linearization. / Watanabe, Keigo; Takisawa, Satoru; Nagai, Isaku.

ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems. 2013. p. 1425-1430 6704109 (International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Watanabe, K, Takisawa, S & Nagai, I 2013, Underactuated control for an X4-AUV using partial linearization and attitude linearization. in ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems., 6704109, International Conference on Control, Automation and Systems, pp. 1425-1430, 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013, Gwangju, Korea, Republic of, 10/20/13. https://doi.org/10.1109/ICCAS.2013.6704109

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abstract = "An autonomous underwater vehicle with four thrusters is reexamined from the viewpoints of derivation of a time-varying model. First, a bilinear model can be derived without depending on a chained form transformation, instead depending on partial linearization in inputs and on linearization of partial attitudes. Next, it can be transformed into a time-varying system that includes partially discontinuous states, and then an exponentially stabilizing method can be applied to its model to solve a stabilization problem. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed method.",

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