A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV
The autonomous underwater vehicle (AUV) mostly has fewer control inputs than the degree of freedoms (DOFs) in motion and be classified into underactuated system. It is difficult tasks to stabilize that system because of the highly nonlinear dynamic and model uncertainties. Hence, it usually require...
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| Format: | Conference or Workshop Item |
| Language: | English |
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2015
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| Online Access: | http://umpir.ump.edu.my/id/eprint/11343/1/A%20Backstepping%20Based%20Pid%20Controller%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf |
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| author | Nur Fadzillah, Harun Zainah, Md. Zain |
| author_facet | Nur Fadzillah, Harun Zainah, Md. Zain |
| author_sort | Nur Fadzillah, Harun |
| collection | UMP |
| description | The autonomous underwater vehicle (AUV) mostly has fewer control inputs than the degree of freedoms (DOFs)
in motion and be classified into underactuated system. It is difficult tasks to stabilize that system because of the highly nonlinear dynamic and model uncertainties. Hence, it usually required nonlinear control method and this paper presents the stabilization of an underactuated X4-AUV using backstepping based PID nonlinear control techniques. The X4-AUV system is executed by separating system into two parts subsystem which is translational and rotational subsystems. Integral backstepping control is applied for translational subsystem and PID backstepping control for the rotational subsystem. The
effectiveness of the proposed control technique for an underactuated X4-AUV demonstrates through simulation.
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| first_indexed | 2024-03-06T11:59:20Z |
| format | Conference or Workshop Item |
| id | UMPir11343 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:59:20Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | UMPir113432018-05-17T00:39:43Z http://umpir.ump.edu.my/id/eprint/11343/ A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV Nur Fadzillah, Harun Zainah, Md. Zain TK Electrical engineering. Electronics Nuclear engineering The autonomous underwater vehicle (AUV) mostly has fewer control inputs than the degree of freedoms (DOFs) in motion and be classified into underactuated system. It is difficult tasks to stabilize that system because of the highly nonlinear dynamic and model uncertainties. Hence, it usually required nonlinear control method and this paper presents the stabilization of an underactuated X4-AUV using backstepping based PID nonlinear control techniques. The X4-AUV system is executed by separating system into two parts subsystem which is translational and rotational subsystems. Integral backstepping control is applied for translational subsystem and PID backstepping control for the rotational subsystem. The effectiveness of the proposed control technique for an underactuated X4-AUV demonstrates through simulation. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/11343/1/A%20Backstepping%20Based%20Pid%20Controller%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf Nur Fadzillah, Harun and Zainah, Md. Zain (2015) A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV. In: International Conferences on Electrical, Control and Computer Engineering (INECCE2015) , 27-28 Oct 2015 , Kuantan, Pahang. . (Unpublished) (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nur Fadzillah, Harun Zainah, Md. Zain A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV |
| title | A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV |
| title_full | A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV |
| title_fullStr | A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV |
| title_full_unstemmed | A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV |
| title_short | A Backstepping Based Pid Controller for Stabilizing an Underactuated X4-AUV |
| title_sort | backstepping based pid controller for stabilizing an underactuated x4 auv |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/11343/1/A%20Backstepping%20Based%20Pid%20Controller%20for%20Stabilizing%20an%20Underactuated%20X4-AUV.pdf |
| work_keys_str_mv | AT nurfadzillahharun abacksteppingbasedpidcontrollerforstabilizinganunderactuatedx4auv AT zainahmdzain abacksteppingbasedpidcontrollerforstabilizinganunderactuatedx4auv AT nurfadzillahharun backsteppingbasedpidcontrollerforstabilizinganunderactuatedx4auv AT zainahmdzain backsteppingbasedpidcontrollerforstabilizinganunderactuatedx4auv |