Integral Backstepping Control for Stabilizing an Underactuated X4-AUV
Autonomous Underwater vehicles (AUV) is one of an unmanned underwater vehicle (UUV) that work independently and can be control automatically on board without requiring a cable. The autonomous capability has great important tasks due to navigate in abyss zones and dangerous underwater mission. Howe...
| Main Authors: | , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2015
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/10915/ http://umpir.ump.edu.my/id/eprint/10915/1/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf http://umpir.ump.edu.my/id/eprint/10915/7/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV-abstract.pdf |
| _version_ | 1848818873098305536 |
|---|---|
| author | Nur Fadzillah, Harun Zainah, Md. Zain |
| author_facet | Nur Fadzillah, Harun Zainah, Md. Zain |
| author_sort | Nur Fadzillah, Harun |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | Autonomous Underwater vehicles (AUV) is one of an unmanned underwater vehicle (UUV) that work independently
and can be control automatically on board without requiring a cable. The autonomous capability has great important
tasks due to navigate in abyss zones and dangerous underwater mission. However, in order to stabilize the system
consists of four control inputs and six degree of freedoms (DOFs) is difficult tasks because of the nonlinear dynamic
and model uncertainties. This paper presents the stabilization of underactuated X4-AUV using nonlinear control
techniques, integral backstepping. The key idea of integral backstepping is to design a virtual controller for each
subsystem by associate with integral of tracking error. The effectiveness of the proposed control technique
demonstrates by simulation. |
| first_indexed | 2025-11-15T01:44:34Z |
| format | Conference or Workshop Item |
| id | ump-10915 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T01:44:34Z |
| publishDate | 2015 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-109152018-05-17T01:01:36Z http://umpir.ump.edu.my/id/eprint/10915/ Integral Backstepping Control for Stabilizing an Underactuated X4-AUV Nur Fadzillah, Harun Zainah, Md. Zain TK Electrical engineering. Electronics Nuclear engineering Autonomous Underwater vehicles (AUV) is one of an unmanned underwater vehicle (UUV) that work independently and can be control automatically on board without requiring a cable. The autonomous capability has great important tasks due to navigate in abyss zones and dangerous underwater mission. However, in order to stabilize the system consists of four control inputs and six degree of freedoms (DOFs) is difficult tasks because of the nonlinear dynamic and model uncertainties. This paper presents the stabilization of underactuated X4-AUV using nonlinear control techniques, integral backstepping. The key idea of integral backstepping is to design a virtual controller for each subsystem by associate with integral of tracking error. The effectiveness of the proposed control technique demonstrates by simulation. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10915/1/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/10915/7/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV-abstract.pdf Nur Fadzillah, Harun and Zainah, Md. Zain (2015) Integral Backstepping Control for Stabilizing an Underactuated X4-AUV. In: International Conference on Innovation in Science and Technology (IICIST 2015) , 20 Apr 2015 , Kuala Lumpur. . (Unpublished) (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nur Fadzillah, Harun Zainah, Md. Zain Integral Backstepping Control for Stabilizing an Underactuated X4-AUV |
| title | Integral Backstepping Control for Stabilizing an Underactuated X4-AUV |
| title_full | Integral Backstepping Control for Stabilizing an Underactuated X4-AUV |
| title_fullStr | Integral Backstepping Control for Stabilizing an Underactuated X4-AUV |
| title_full_unstemmed | Integral Backstepping Control for Stabilizing an Underactuated X4-AUV |
| title_short | Integral Backstepping Control for Stabilizing an Underactuated X4-AUV |
| title_sort | integral backstepping control for stabilizing an underactuated x4-auv |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/10915/ http://umpir.ump.edu.my/id/eprint/10915/1/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf http://umpir.ump.edu.my/id/eprint/10915/7/Integral%20Backstepping%20Control%20for%20Stabilizing%20an%20Underactuated%20X4-AUV-abstract.pdf |