Optimal control with backstepping method for an underactuated X4-AUV
A nonlinear control method for stabilizing a X4-AUV which is underactuated system with four inputs and six degrees of freedom is presented in this research. The rotation and translation subsystems are managed using an optimal control approach combined with the backstepping method. We applied and com...
| Main Authors: | , , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE Xplore
2024
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| Subjects: | |
| Online Access: | https://umpir.ump.edu.my/id/eprint/46009/ |
| _version_ | 1848827544873205760 |
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| author | Zainah, Md Zain Wan Mohd Hafiz Shahrizan, Zaidi Mohd Syakirin, Ramli Hamzah, Ahmad Mohd Shahrieel, Mohd Aras Rozina, Abdul Rani |
| author_facet | Zainah, Md Zain Wan Mohd Hafiz Shahrizan, Zaidi Mohd Syakirin, Ramli Hamzah, Ahmad Mohd Shahrieel, Mohd Aras Rozina, Abdul Rani |
| author_sort | Zainah, Md Zain |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | A nonlinear control method for stabilizing a X4-AUV which is underactuated system with four inputs and six degrees of freedom is presented in this research. The rotation and translation subsystems are managed using an optimal control approach combined with the backstepping method. We applied and compared two parameter tuning techniques: manual tuning and Particle Swarm Optimization (PSO). Simulation results showed that manual tuning led to smoother performance, with lower rise time, smaller steady-state error, and faster settling time than PSO-based tuning. Both methods successfully prevented overshoot, suggesting that manual tuning is more effective for this application. |
| first_indexed | 2025-11-15T04:02:24Z |
| format | Conference or Workshop Item |
| id | ump-46009 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T04:02:24Z |
| publishDate | 2024 |
| publisher | IEEE Xplore |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-460092025-10-28T00:41:59Z https://umpir.ump.edu.my/id/eprint/46009/ Optimal control with backstepping method for an underactuated X4-AUV Zainah, Md Zain Wan Mohd Hafiz Shahrizan, Zaidi Mohd Syakirin, Ramli Hamzah, Ahmad Mohd Shahrieel, Mohd Aras Rozina, Abdul Rani TK Electrical engineering. Electronics Nuclear engineering A nonlinear control method for stabilizing a X4-AUV which is underactuated system with four inputs and six degrees of freedom is presented in this research. The rotation and translation subsystems are managed using an optimal control approach combined with the backstepping method. We applied and compared two parameter tuning techniques: manual tuning and Particle Swarm Optimization (PSO). Simulation results showed that manual tuning led to smoother performance, with lower rise time, smaller steady-state error, and faster settling time than PSO-based tuning. Both methods successfully prevented overshoot, suggesting that manual tuning is more effective for this application. IEEE Xplore 2024 Conference or Workshop Item PeerReviewed pdf en https://umpir.ump.edu.my/id/eprint/46009/1/USYS2024%20-%20Optimal_Control_with_Backstepping_Method_for_an_Underactuated_X4-AUV.pdf Zainah, Md Zain and Wan Mohd Hafiz Shahrizan, Zaidi and Mohd Syakirin, Ramli and Hamzah, Ahmad and Mohd Shahrieel, Mohd Aras and Rozina, Abdul Rani (2024) Optimal control with backstepping method for an underactuated X4-AUV. In: 2024 IEEE 10th International Conference on Underwater System Technology: Theory and Applications (USYS). IEEE 10th International Conference on Underwater System Technology: Theory and Applications (USYS) , 18-20 October 2024 , Xi'an, China. pp. 1-6.. ISBN 979-8-3315-2148-6 (Published) https://doi.org/10.1109/USYS62456.2024.11116424 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Zainah, Md Zain Wan Mohd Hafiz Shahrizan, Zaidi Mohd Syakirin, Ramli Hamzah, Ahmad Mohd Shahrieel, Mohd Aras Rozina, Abdul Rani Optimal control with backstepping method for an underactuated X4-AUV |
| title | Optimal control with backstepping method for an underactuated X4-AUV |
| title_full | Optimal control with backstepping method for an underactuated X4-AUV |
| title_fullStr | Optimal control with backstepping method for an underactuated X4-AUV |
| title_full_unstemmed | Optimal control with backstepping method for an underactuated X4-AUV |
| title_short | Optimal control with backstepping method for an underactuated X4-AUV |
| title_sort | optimal control with backstepping method for an underactuated x4-auv |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | https://umpir.ump.edu.my/id/eprint/46009/ https://umpir.ump.edu.my/id/eprint/46009/ |