Integral Backstepping Control for Stabilizing an Underactuated X4-AUV

Integral Backstepping Control for Stabilizing an Underactuated X4-AUV

Autonomous Underwater vehicles (AUV) is one of an unmanned underwater vehicle (UUV) that work independently and can be control automatically on board without requiring a cable. The autonomous capability has great important tasks due to navigate in abyss zones and dangerous underwater mission. Howe...

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Main Authors: Nur Fadzillah, Harun, Zainah, Md. Zain
Format: Conference or Workshop Item
Language:English
English
Published: 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/10915/
http://umpir.ump.edu.my/id/eprint/10915/1/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf
http://umpir.ump.edu.my/id/eprint/10915/7/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV-abstract.pdf
id ump-10915
recordtype eprints
spelling ump-109152018-05-17T01:01:36Z http://umpir.ump.edu.my/id/eprint/10915/ Integral Backstepping Control for Stabilizing an Underactuated X4-AUV Nur Fadzillah, Harun Zainah, Md. Zain TK Electrical engineering. Electronics Nuclear engineering Autonomous Underwater vehicles (AUV) is one of an unmanned underwater vehicle (UUV) that work independently and can be control automatically on board without requiring a cable. The autonomous capability has great important tasks due to navigate in abyss zones and dangerous underwater mission. However, in order to stabilize the system consists of four control inputs and six degree of freedoms (DOFs) is difficult tasks because of the nonlinear dynamic and model uncertainties. This paper presents the stabilization of underactuated X4-AUV using nonlinear control techniques, integral backstepping. The key idea of integral backstepping is to design a virtual controller for each subsystem by associate with integral of tracking error. The effectiveness of the proposed control technique demonstrates by simulation. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10915/1/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/10915/7/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV-abstract.pdf Nur Fadzillah, Harun and Zainah, Md. Zain (2015) Integral Backstepping Control for Stabilizing an Underactuated X4-AUV. In: International Conference on Innovation in Science and Technology (IICIST 2015), 20 Apr 2015 , Kuala Lumpur. . (Unpublished)
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Nur Fadzillah, Harun
Zainah, Md. Zain
Integral Backstepping Control for Stabilizing an Underactuated X4-AUV
description Autonomous Underwater vehicles (AUV) is one of an unmanned underwater vehicle (UUV) that work independently and can be control automatically on board without requiring a cable. The autonomous capability has great important tasks due to navigate in abyss zones and dangerous underwater mission. However, in order to stabilize the system consists of four control inputs and six degree of freedoms (DOFs) is difficult tasks because of the nonlinear dynamic and model uncertainties. This paper presents the stabilization of underactuated X4-AUV using nonlinear control techniques, integral backstepping. The key idea of integral backstepping is to design a virtual controller for each subsystem by associate with integral of tracking error. The effectiveness of the proposed control technique demonstrates by simulation.
format Conference or Workshop Item
author Nur Fadzillah, Harun
Zainah, Md. Zain
author_facet Nur Fadzillah, Harun
Zainah, Md. Zain
author_sort Nur Fadzillah, Harun
title Integral Backstepping Control for Stabilizing an Underactuated X4-AUV
title_short Integral Backstepping Control for Stabilizing an Underactuated X4-AUV
title_full Integral Backstepping Control for Stabilizing an Underactuated X4-AUV
title_fullStr Integral Backstepping Control for Stabilizing an Underactuated X4-AUV
title_full_unstemmed Integral Backstepping Control for Stabilizing an Underactuated X4-AUV
title_sort integral backstepping control for stabilizing an underactuated x4-auv
publishDate 2015
url http://umpir.ump.edu.my/id/eprint/10915/
http://umpir.ump.edu.my/id/eprint/10915/1/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf
http://umpir.ump.edu.my/id/eprint/10915/7/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV-abstract.pdf
first_indexed 2023-09-18T22:11:04Z
last_indexed 2023-09-18T22:11:04Z
_version_ 1777415031302914048

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