A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV
In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a parti...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Springer
2013
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/5572/1/scan0001.pdf |
| _version_ | 1796989979420786688 |
|---|---|
| author | Zainah, Md. Zain Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku |
| author_facet | Zainah, Md. Zain Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku |
| author_sort | Zainah, Md. Zain |
| collection | UMP |
| description | In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi’s discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a “chained form”, and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller |
| first_indexed | 2024-03-06T11:44:58Z |
| format | Article |
| id | UMPir5572 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:44:58Z |
| publishDate | 2013 |
| publisher | Springer |
| record_format | dspace |
| spelling | UMPir55722018-05-17T03:41:34Z http://umpir.ump.edu.my/id/eprint/5572/ A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV Zainah, Md. Zain Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku TK Electrical engineering. Electronics Nuclear engineering In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi’s discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a “chained form”, and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller Springer 2013 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/5572/1/scan0001.pdf Zainah, Md. Zain and Watanabe, Keigo and Izumi, Kiyotaka and Nagai, Isaku (2013) A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV. Artificial Life and Robotics, 17 (3). pp. 463-469. ISSN 1433-5298 (Print) 1614-7456 (Online). (Published) http://dx.doi.org/10.1007/s10015-012-0082-9 doi:10.1007/s10015-012-0082-9 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Zainah, Md. Zain Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV |
| title | A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV |
| title_full | A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV |
| title_fullStr | A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV |
| title_full_unstemmed | A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV |
| title_short | A Discontinuous Exponential Stabilization of Chained form System for an X4-AUV |
| title_sort | discontinuous exponential stabilization of chained form system for an x4 auv |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/5572/1/scan0001.pdf |
| work_keys_str_mv | AT zainahmdzain adiscontinuousexponentialstabilizationofchainedformsystemforanx4auv AT watanabekeigo adiscontinuousexponentialstabilizationofchainedformsystemforanx4auv AT izumikiyotaka adiscontinuousexponentialstabilizationofchainedformsystemforanx4auv AT nagaiisaku adiscontinuousexponentialstabilizationofchainedformsystemforanx4auv AT zainahmdzain discontinuousexponentialstabilizationofchainedformsystemforanx4auv AT watanabekeigo discontinuousexponentialstabilizationofchainedformsystemforanx4auv AT izumikiyotaka discontinuousexponentialstabilizationofchainedformsystemforanx4auv AT nagaiisaku discontinuousexponentialstabilizationofchainedformsystemforanx4auv |