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

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Title Stabilization of an underactuated X4-AUV using a discontinuous control law
 
Creator Zain, Zainah Md.
Watanabe, Keigo
Izumi, Kiyotaka
Nagai, Isaku
 
Subject Underactuated X4-AUV
Discontinuous control
Nonholonomic
Kinematic
 
Description 589-598
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.


 
Date 2012-11-30T04:17:39Z
2012-11-30T04:17:39Z
2012-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/15156
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.41(6) [December 2012]