Stabilization of an underactuated X4-AUV using a discontinuous control law

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

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


Present study consists the stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in control-affine form by applying a partial linearization technique and a dynamic controller based on Astolfi's discontinuous control is derived by transformations of coordinate and input to obtain globally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to controlling the origin of the system.

Original languageEnglish
Pages (from-to)589-598
Number of pages10
JournalIndian Journal of Marine Sciences
Issue number6
Publication statusPublished - Feb 1 2012


  • Discontinuous control
  • Kinematic
  • Nonholonomic
  • Underactuated X4-AUV

ASJC Scopus subject areas

  • Oceanography


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