• DocumentCode
    2095486
  • 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
  • fYear
    2015
  • fDate
    May 31 2015-June 3 2015
  • Firstpage
    1
  • Lastpage
    6
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ASCC), 2015 10th Asian
  • Conference_Location
    Kota Kinabalu, Malaysia
  • Type

    conf

  • DOI
    10.1109/ASCC.2015.7244906
  • Filename
    7244906
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2095486