Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV
This paper presents comparative research of two hybrid nonlinear control strategies—Optimal Control with Backstepping Method for position and Backstepping PID for attitude (OBBPID), and Backstepping PID for position with Optimal Control and Backstepping for attitude (BPIDOB)—to stabilize an underact...
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| Format: | Conference or Workshop Item |
| Language: | English |
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IEEE
2025
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| Online Access: | https://umpir.ump.edu.my/id/eprint/45754/ |
| _version_ | 1848827502311505920 |
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| author | Zainah, Md Zain Wan Mohd Hafiz Shahrizan, Zaidi |
| author_facet | Zainah, Md Zain Wan Mohd Hafiz Shahrizan, Zaidi |
| author_sort | Zainah, Md Zain |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents comparative research of two hybrid nonlinear control strategies—Optimal Control with Backstepping Method for position and Backstepping PID for attitude (OBBPID), and Backstepping PID for position with Optimal Control and Backstepping for attitude (BPIDOB)—to stabilize an underactuated X4 Autonomous Underwater Vehicle (X4-AUV). Both controllers are created based on Lyapunov stability theory and tested in simulation. Results show that while both methods achieve stable tracking of desired positions and orientations, the OBBPID controller delivers faster settling times and lower overshoot. These findings demonstrate the effectiveness of hybrid backstepping-based control for robust underwater vehicle operation. |
| first_indexed | 2025-11-15T04:01:44Z |
| format | Conference or Workshop Item |
| id | ump-45754 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T04:01:44Z |
| publishDate | 2025 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-457542025-09-26T04:41:44Z https://umpir.ump.edu.my/id/eprint/45754/ Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV Zainah, Md Zain Wan Mohd Hafiz Shahrizan, Zaidi TK Electrical engineering. Electronics Nuclear engineering This paper presents comparative research of two hybrid nonlinear control strategies—Optimal Control with Backstepping Method for position and Backstepping PID for attitude (OBBPID), and Backstepping PID for position with Optimal Control and Backstepping for attitude (BPIDOB)—to stabilize an underactuated X4 Autonomous Underwater Vehicle (X4-AUV). Both controllers are created based on Lyapunov stability theory and tested in simulation. Results show that while both methods achieve stable tracking of desired positions and orientations, the OBBPID controller delivers faster settling times and lower overshoot. These findings demonstrate the effectiveness of hybrid backstepping-based control for robust underwater vehicle operation. IEEE 2025-09-10 Conference or Workshop Item PeerReviewed pdf en https://umpir.ump.edu.my/id/eprint/45754/1/Hybrid%20combination%20controller%20of%20optimal%20control%20with%20backstepping%20method.pdf Zainah, Md Zain and Wan Mohd Hafiz Shahrizan, Zaidi (2025) Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV. In: IEEE 8th International Conference on Electrical, Control and Computer Engineering (InECCE 2025) , 27 - 28 August 2025 , Kuantan, Pahang. pp. 1-6.. ISBN 979-8-3315-2023-6 (Published) https://doi.org/10.1109/InECCE64959.2025.11151090 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Zainah, Md Zain Wan Mohd Hafiz Shahrizan, Zaidi Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV |
| title | Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV |
| title_full | Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV |
| title_fullStr | Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV |
| title_full_unstemmed | Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV |
| title_short | Hybrid combination controller of optimal control with backstepping method and PID backstepping for an underactuated X4-AUV |
| title_sort | hybrid combination controller of optimal control with backstepping method and pid backstepping for an underactuated x4-auv |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | https://umpir.ump.edu.my/id/eprint/45754/ https://umpir.ump.edu.my/id/eprint/45754/ |