Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach
An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulat...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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Engineering and Technology Publishing
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/6360/ http://umpir.ump.edu.my/id/eprint/6360/1/Comparison%20of%20an%20X4-AUV%20Performance%20Using%20A%20Direct%20Lyapunov%20-%20PD%20Controller%20and%20Backstepping%20Approach.pdf |
| _version_ | 1848817753389006848 |
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| author | Zainah, Md. Zain Nur Fadzillah, Harun Keigo, Watanabe Isaku, Nagai |
| author_facet | Zainah, Md. Zain Nur Fadzillah, Harun Keigo, Watanabe Isaku, Nagai |
| author_sort | Zainah, Md. Zain |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | An X4-AUV is nonlinear, coupled and unstable
system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the
simulations to see the comparative performance result of an X4-AUV under two control schemes. |
| first_indexed | 2025-11-15T01:26:47Z |
| format | Conference or Workshop Item |
| id | ump-6360 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:26:47Z |
| publishDate | 2015 |
| publisher | Engineering and Technology Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-63602018-05-17T03:10:35Z http://umpir.ump.edu.my/id/eprint/6360/ Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach Zainah, Md. Zain Nur Fadzillah, Harun Keigo, Watanabe Isaku, Nagai TK Electrical engineering. Electronics Nuclear engineering An X4-AUV is nonlinear, coupled and unstable system. In this paper, we present the results of two control schemes applied to an X4-AUV. A direct use of Lyapunov control theory and PD controller technique and backstepping technique have been applied to stabilize the system. We performed the simulations to see the comparative performance result of an X4-AUV under two control schemes. Engineering and Technology Publishing 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6360/1/Comparison%20of%20an%20X4-AUV%20Performance%20Using%20A%20Direct%20Lyapunov%20-%20PD%20Controller%20and%20Backstepping%20Approach.pdf Zainah, Md. Zain and Nur Fadzillah, Harun and Keigo, Watanabe and Isaku, Nagai (2015) Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach. In: The 10th Asian Control Conference (ASCC 2015) , 31 May-3 June 2015 , Kota Kinabalu, Sabah. pp. 1-6., 3 (4). ISSN 2301-3796 (Published) http://dx.doi.org/10.1109/ASCC.2015.7244906 DOI: 10.12720/jomb.3.4.306-310 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Zainah, Md. Zain Nur Fadzillah, Harun Keigo, Watanabe Isaku, Nagai Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach |
| title | Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach |
| title_full | Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach |
| title_fullStr | Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach |
| title_full_unstemmed | Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach |
| title_short | Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach |
| title_sort | comparison of an x4-auv performance using a direct lyapunov - pd controller and backstepping approach |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/6360/ http://umpir.ump.edu.my/id/eprint/6360/ http://umpir.ump.edu.my/id/eprint/6360/ http://umpir.ump.edu.my/id/eprint/6360/1/Comparison%20of%20an%20X4-AUV%20Performance%20Using%20A%20Direct%20Lyapunov%20-%20PD%20Controller%20and%20Backstepping%20Approach.pdf |