A discontinuous exponential stabilization law for an underactuated X4-AUV

Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi, Isaku Nagai

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi's discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a "chained form", and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller.

Original languageEnglish
Pages (from-to)463-469
Number of pages7
JournalArtificial Life and Robotics
Issue number3-4
Publication statusPublished - Jan 1 2013


  • Discontinuous control
  • Underactuated X4-AUV

ASJC Scopus subject areas

  • General Biochemistry,Genetics and Molecular Biology
  • Artificial Intelligence


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