Exponential stabilization of second-order nonholonomic chained systems

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, an underactuated control method is considered for an X4-AUV with four thrusters and 6-DOFs. A second-order chained form transformation is introduced to the dynamical model by separating a system into three parts of controller model. Then, the Astolfi's discontinuous control method is applied to realize an underactuated control method to stabilize the system. This approach is motivated by the fact that the discontinuous dynamic model without using a chained form transformation assures only a local stability (or controllability) of the dynamic based control system, instead of guaranteeing a global stability of the system. A computer simulation is presented to demonstrate the effectiveness of our approach.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - 6th International Conference, ICIRA 2013, Proceedings
PublisherSpringer Verlag
Number of pages12
EditionPART 2
ISBN (Print)9783642408489
Publication statusPublished - 2013
Event6th International Conference on Intelligent Robotics and Applications, ICIRA 2013 - Busan, Korea, Republic of
Duration: Sept 25 2013Sept 28 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume8103 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other6th International Conference on Intelligent Robotics and Applications, ICIRA 2013
Country/TerritoryKorea, Republic of


  • Nonholonomic system
  • discontinuous control
  • second-order chained form
  • underactuated control system

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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