Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV
In this paper, we are interested principally in dynamic modelling of an autonomous underwater vehicle (X4-AUV) while taking into account the high order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamic of a sw...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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UTeM
2017
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| Online Access: | http://umpir.ump.edu.my/id/eprint/27029/ http://umpir.ump.edu.my/id/eprint/27029/1/Backstepping%20and%20sliding-mode%20methods%20for%20stabilizing%20an%20underactuated.pdf |
| _version_ | 1848822687479103488 |
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| author | Zainah, Md. Zain Nurfadzillah, Harun Nur Natasha, Hanipah Norhafizah, Md. Zain |
| author_facet | Zainah, Md. Zain Nurfadzillah, Harun Nur Natasha, Hanipah Norhafizah, Md. Zain |
| author_sort | Zainah, Md. Zain |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | In this paper, we are interested principally in dynamic modelling of an autonomous underwater vehicle (X4-AUV) while taking into account the high order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamic of a swimming structure. We deal with the design of two controllers, based on backstepping and sliding-mode control techniques to stabilize altitude and attitude of an underactuated X4-AUV. The designed controllers are: full backstepping control for attitude and altitude control, and partially slidingmode control for attitude combine with altitude backstepping control. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers. |
| first_indexed | 2025-11-15T02:45:12Z |
| format | Article |
| id | ump-27029 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:45:12Z |
| publishDate | 2017 |
| publisher | UTeM |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-270292020-03-23T03:32:52Z http://umpir.ump.edu.my/id/eprint/27029/ Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV Zainah, Md. Zain Nurfadzillah, Harun Nur Natasha, Hanipah Norhafizah, Md. Zain GC Oceanography TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics In this paper, we are interested principally in dynamic modelling of an autonomous underwater vehicle (X4-AUV) while taking into account the high order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamic of a swimming structure. We deal with the design of two controllers, based on backstepping and sliding-mode control techniques to stabilize altitude and attitude of an underactuated X4-AUV. The designed controllers are: full backstepping control for attitude and altitude control, and partially slidingmode control for attitude combine with altitude backstepping control. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers. UTeM 2017 Article PeerReviewed pdf en cc_by http://umpir.ump.edu.my/id/eprint/27029/1/Backstepping%20and%20sliding-mode%20methods%20for%20stabilizing%20an%20underactuated.pdf Zainah, Md. Zain and Nurfadzillah, Harun and Nur Natasha, Hanipah and Norhafizah, Md. Zain (2017) Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV. Journal of Telecommunication, Electronic and Computer Engineering, 9 (2-3). pp. 1-7. ISSN 2180-1843 (Print); 2289-8131 (Online). (Published) http://journal.utem.edu.my/index.php/jtec/article/view/2264 |
| spellingShingle | GC Oceanography TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics Zainah, Md. Zain Nurfadzillah, Harun Nur Natasha, Hanipah Norhafizah, Md. Zain Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV |
| title | Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV |
| title_full | Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV |
| title_fullStr | Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV |
| title_full_unstemmed | Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV |
| title_short | Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV |
| title_sort | backstepping and sliding-mode methods for stabilizing an underactuated x4-auv |
| topic | GC Oceanography TC Hydraulic engineering. Ocean engineering TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics |
| url | http://umpir.ump.edu.my/id/eprint/27029/ http://umpir.ump.edu.my/id/eprint/27029/ http://umpir.ump.edu.my/id/eprint/27029/1/Backstepping%20and%20sliding-mode%20methods%20for%20stabilizing%20an%20underactuated.pdf |