Comparison of an X4-AUV Performance Using A Direct Lyapunov - PD Controller and Backstepping Approach

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...

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Bibliographic Details
Main Authors: Zainah, Md. Zain, Nur Fadzillah, Harun, Keigo, Watanabe, Isaku, Nagai
Format: Conference or Workshop Item
Language:English
Published: Engineering and Technology Publishing 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
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

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