Backstepping Control Strategy For An Underactuated X4-AUV

• Main Authors: Zainah, Md. Zain, Nur Fadzillah, Harun
• Format: Article
• Language: English
• Published: Penerbit Universiti Teknologi Malaysia 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/9407/1/Backstepping%20Control%20Strategy%20For%20An%20Underactuated%20X4-Auv.pdf; http://umpir.ump.edu.my/id/eprint/9407/; http://www.jurnalteknologi.utm.my/index.php/jurnalteknologi/article/view/4804

A nonlinear control method is considered for stabilizing all attitudes and positions (x, y or z) of an underactuated X4-AUV with four thrusters and six degrees-of-freedom (DOFs), in which the positions are stabilized according to the Lyapunov stability theory and angles are stabilized using backstepping control method. A dynamical model is first derived, and then a sequential nonlinear control strategy is implemented for the X4-AUV, composed of translational and rotational subsystems. A controller for the translational subsystem stabilizes one position out of x-, y-, and z-coordinates, whereas controllers for the rotational subsystems generate the desired roll, pitch and yaw angles. Thus, the rotational controllers stabilize all the attitudes of the X4-AUV at a desired (x-, y- or z-) position of the vehicle. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers.