Title :
Comparison of an X4-AUV performance using a direct Lyapunov — PD controller and backstepping approach
Author :
Zain, Zainah Md ; Harun, NurFadzillah ; Watanabe, Keigo ; Nagai, Isaku
Author_Institution :
Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan Branch, 26600 Pekan, Pahang, Malaysia
fDate :
May 31 2015-June 3 2015
Abstract :
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 simulations to see the comparative performance result of an X4-AUV under two control schemes.
Keywords :
Asymptotic stability; Backstepping; Lyapunov methods; Mathematical model; PD control; Vehicle dynamics; Lyapunov control theory; PD controller; backstepping; nonlinear control;
Conference_Titel :
Control Conference (ASCC), 2015 10th Asian
Conference_Location :
Kota Kinabalu, Malaysia
DOI :
10.1109/ASCC.2015.7244906
