A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV

The autonomous underwater vehicle (AUV) mostly has fewer control inputs than the degree of freedoms (DOFs) in motion and be classified into underactuated system. It is difficult tasks to stabilize that system because of the highly nonlinear dynamic and model uncertainties. Hence, it usually require...

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Main Authors:	Nur Fadzillah, Harun, Zainah, Md. Zain
Format:	Conference or Workshop Item
Language:	English
Published:	2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/11343/ http://umpir.ump.edu.my/id/eprint/11343/1/A%20Backstepping%20Based%20Pid%20Controller%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf

id	ump-11343
recordtype	eprints
spelling	ump-113432018-05-17T00:39:43Z http://umpir.ump.edu.my/id/eprint/11343/ A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV Nur Fadzillah, Harun Zainah, Md. Zain TK Electrical engineering. Electronics Nuclear engineering The autonomous underwater vehicle (AUV) mostly has fewer control inputs than the degree of freedoms (DOFs) in motion and be classified into underactuated system. It is difficult tasks to stabilize that system because of the highly nonlinear dynamic and model uncertainties. Hence, it usually required nonlinear control method and this paper presents the stabilization of an underactuated X4-AUV using backstepping based PID nonlinear control techniques. The X4-AUV system is executed by separating system into two parts subsystem which is translational and rotational subsystems. Integral backstepping control is applied for translational subsystem and PID backstepping control for the rotational subsystem. The effectiveness of the proposed control technique for an underactuated X4-AUV demonstrates through simulation. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/11343/1/A%20Backstepping%20Based%20Pid%20Controller%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf Nur Fadzillah, Harun and Zainah, Md. Zain (2015) A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV. In: International Conferences on Electrical, Control and Computer Engineering (INECCE2015), 27-28 Oct 2015 , Kuantan, Pahang. . (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Nur Fadzillah, Harun Zainah, Md. Zain A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV
description	The autonomous underwater vehicle (AUV) mostly has fewer control inputs than the degree of freedoms (DOFs) in motion and be classified into underactuated system. It is difficult tasks to stabilize that system because of the highly nonlinear dynamic and model uncertainties. Hence, it usually required nonlinear control method and this paper presents the stabilization of an underactuated X4-AUV using backstepping based PID nonlinear control techniques. The X4-AUV system is executed by separating system into two parts subsystem which is translational and rotational subsystems. Integral backstepping control is applied for translational subsystem and PID backstepping control for the rotational subsystem. The effectiveness of the proposed control technique for an underactuated X4-AUV demonstrates through 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	A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV
title_short	A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV
title_full	A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV
title_fullStr	A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV
title_full_unstemmed	A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV
title_sort	backstepping based pid controller for stabilizing an underactuated x4-auv
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/11343/ http://umpir.ump.edu.my/id/eprint/11343/1/A%20Backstepping%20Based%20Pid%20Controller%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf
first_indexed	2023-09-18T22:11:58Z
last_indexed	2023-09-18T22:11:58Z
_version_	1777415087791800320

A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV

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