A nonholonomic control method for stabilizing an X4-AUV

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

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


A nonholonomic control method is considered for stabilizing all attitudes and positions (x, y, or z) of an underactuated X4 autonomous underwater vehicle (AUV) with four thrusters and six degrees of freedom (DOF), in which the positions are stabilized according to the Lyapunov stability theory. A dynamic model is first derived, and then a sequential nonlinear control strategy is implemented for the X4-AUV which is composed of translational and rotational subsystems. A controller for the translational subsystem stabilizes one position out of the x-, y-, and z-coordinates, whereas controllers for the rotational subsystems generate the desired roll, pitch, and yaw angles. Thus, the rotational controllers stabilize all the attitudes of the X4-AUV at the desired (x-, y-, or z-) position of the vehicle. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers.

Original languageEnglish
Pages (from-to)202-207
Number of pages6
JournalArtificial Life and Robotics
Issue number2
Publication statusPublished - Sept 1 2011


  • AUV
  • Nonholonomic systems
  • Underactuated control system

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence


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