|
NISCAIR ONLINE PERIODICALS REPOSITORY (NOPR) >
NISCAIR PUBLICATIONS >
Research Journals >
Indian Journal of Geo-Marine Sciences (IJMS) >
IJMS Vol.41 [2012] >
IJMS Vol.41(6) [December 2012] >
| Title: | Stabilization of an underactuated X4-AUV using a discontinuous control law |
| Authors: | Zain, Zainah Md.
Watanabe, Keigo
Izumi, Kiyotaka
Nagai, Isaku |
| Keywords: | Underactuated X4-AUV
Discontinuous control
Nonholonomic
Kinematic |
| Issue Date: | Dec-2012 |
| Publisher: | NISCAIR-CSIR, India |
| Abstract: | Present study consists the
stabilization of a class of second-order nonholonomic systems in canonical
chained form is investigated. We first derive the dynamic model of an
underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using
Lagrange approach. Then the system is written in control-affine form by
applying a partial linearization technique and a dynamic controller based on
Astolfi's discontinuous control is derived by transformations of coordinate and
input to obtain globally asymtotically stable response. A simulation is
conducted to demonstrate the effectiveness of the present approach to
controlling the origin of the system.
|
| Page(s): | 589-598 |
| CC License: |  CC Attribution-Noncommercial-No Derivative Works 2.5 India |
| ISSN: | 0975-1033 (Online); 0379-5136 (Print) |
| Source: | IJMS Vol.41(6) [December 2012]
|
|
