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 proceedingConference 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 languageEnglish
Title of host publicationICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
Pages1425-1430
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju, Korea, Republic of
Duration: Oct 20 2013Oct 23 2013

Publication series

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

Other

Other2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
CountryKorea, Republic of
CityGwangju
Period10/20/1310/23/13

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

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  • Cite this

    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 (pp. 1425-1430). [6704109] (International Conference on Control, Automation and Systems). https://doi.org/10.1109/ICCAS.2013.6704109