The stabilization control of a position and all attitudes for an X4-AUV

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

The stabilization control of a position and all attitudes for an X4-AUV

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

研究成果 › 査読

抄録

A nonholonomic controller has been already studied for stabilizing all of attitudes and a position of an X4-AUV (autonomous underwater vehicle) with four thrusters, in which x-position was stabilized according to the Lyapunov stability theory. In this paper, following the same approach as used in the previous research, a controller is further developed for stabilizing all of attitudes and y- or z-position of the vehicle. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers.

本文言語	English
ページ	1265-1270
ページ数	6
出版ステータス	Published - 12月 1 2010
イベント	Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama 継続期間: 12月 8 2010 → 12月 12 2010

Other

Other	Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
国/地域	Japan
City	Okayama
Period	12/8/10 → 12/12/10

ASJC Scopus subject areas

人工知能
情報システム

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The stabilization control of a position and all attitudes for an X4-AUV

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