PSO approach for a controller based-on backstepping method in 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 a difficult task to stabilize that system because of the highly nonlinear dynamic and model uncertainties, therefore it is usually r...
| المؤلفون الرئيسيون: | , |
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| التنسيق: | Conference or Workshop Item |
| اللغة: | English |
| منشور في: |
2017
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| الموضوعات: | |
| الوصول للمادة أونلاين: | http://umpir.ump.edu.my/id/eprint/21225/1/16.%20Pso%20approach%20for%20a%20controller%20based-on%20backstepping%20method%20in%20stabilizing%20an%20underactuated%20x4-auv.pdf |
| _version_ | 1825812090539999232 |
|---|---|
| author | Nurfadzillah, Harun Zainah, Md. Zain |
| author_facet | Nurfadzillah, Harun Zainah, Md. Zain |
| author_sort | Nurfadzillah, 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 a difficult task to stabilize that system because of the highly nonlinear dynamic and model uncertainties, therefore it is usually required nonlinear control method to control this type of system. Conventionally, to control the system, parameters for the controller are selected by the trial-and-error method or manually chosen. It is challenging to get satisfactory responses because manual tuning is not an easy task and consuming much time, especially involve many parameters. It is necessary to select proper parameters because an improper selection of the parameters may jeopardize the system stability and leads to inappropriate responses. Thus, an optimization technique is required in selecting the optimal parameter for the controller. In this paper, the controller based on backstepping method is required for an underactuated X4-AUV system. Three types of controller based on backstepping are designed ; standard backstepping, PID backstepping and integral backstepping. Twelve optimal parameter values are generated for each controller using particle swarm optimization (PSO). All these three controllers show an improvement in term of settling time, and it has rapid responses compare than a controller with manual tuning parameters. The effectiveness of the controllers is verified in a computer simulation using MATLAB software. |
| first_indexed | 2024-03-06T12:23:59Z |
| format | Conference or Workshop Item |
| id | UMPir21225 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:23:59Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | UMPir212252019-10-09T06:29:19Z http://umpir.ump.edu.my/id/eprint/21225/ PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV Nurfadzillah, Harun Zainah, Md. Zain QA75 Electronic computers. Computer science 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 a difficult task to stabilize that system because of the highly nonlinear dynamic and model uncertainties, therefore it is usually required nonlinear control method to control this type of system. Conventionally, to control the system, parameters for the controller are selected by the trial-and-error method or manually chosen. It is challenging to get satisfactory responses because manual tuning is not an easy task and consuming much time, especially involve many parameters. It is necessary to select proper parameters because an improper selection of the parameters may jeopardize the system stability and leads to inappropriate responses. Thus, an optimization technique is required in selecting the optimal parameter for the controller. In this paper, the controller based on backstepping method is required for an underactuated X4-AUV system. Three types of controller based on backstepping are designed ; standard backstepping, PID backstepping and integral backstepping. Twelve optimal parameter values are generated for each controller using particle swarm optimization (PSO). All these three controllers show an improvement in term of settling time, and it has rapid responses compare than a controller with manual tuning parameters. The effectiveness of the controllers is verified in a computer simulation using MATLAB software. 2017 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21225/1/16.%20Pso%20approach%20for%20a%20controller%20based-on%20backstepping%20method%20in%20stabilizing%20an%20underactuated%20x4-auv.pdf Nurfadzillah, Harun and Zainah, Md. Zain (2017) PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV. In: 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications (USYS’17) , 18-20 Disember 2017 , Kuala Lumpur. pp. 1-8.. (Published) |
| spellingShingle | QA75 Electronic computers. Computer science Nurfadzillah, Harun Zainah, Md. Zain PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV |
| title | PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV |
| title_full | PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV |
| title_fullStr | PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV |
| title_full_unstemmed | PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV |
| title_short | PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV |
| title_sort | pso approach for a controller based on backstepping method in stabilizing an underactuated x4 auv |
| topic | QA75 Electronic computers. Computer science |
| url | http://umpir.ump.edu.my/id/eprint/21225/1/16.%20Pso%20approach%20for%20a%20controller%20based-on%20backstepping%20method%20in%20stabilizing%20an%20underactuated%20x4-auv.pdf |
| work_keys_str_mv | AT nurfadzillahharun psoapproachforacontrollerbasedonbacksteppingmethodinstabilizinganunderactuatedx4auv AT zainahmdzain psoapproachforacontrollerbasedonbacksteppingmethodinstabilizinganunderactuatedx4auv |