TY - GEN
T1 - Underactuated control for an X4-AUV using partial linearization and attitude linearization
AU - Watanabe, Keigo
AU - Takisawa, Satoru
AU - Nagai, Isaku
PY - 2013/12/1
Y1 - 2013/12/1
N2 - 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.
AB - 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.
KW - Autonomous underwater vehicles (AUV)
KW - Nonholonomic systems
KW - Underactuated control
UR - http://www.scopus.com/inward/record.url?scp=84893593765&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893593765&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2013.6704109
DO - 10.1109/ICCAS.2013.6704109
M3 - Conference contribution
AN - SCOPUS:84893593765
SN - 9788993215052
T3 - International Conference on Control, Automation and Systems
SP - 1425
EP - 1430
BT - ICCAS 2013 - 2013 13th International Conference on Control, Automation and Systems
T2 - 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013
Y2 - 20 October 2013 through 23 October 2013
ER -