Abstract
A nonholonomic control method is considered for stabilizing all attitudes and positions (x, y, or z) of an underactuated X4 autonomous underwater vehicle (AUV) with four thrusters and six degrees of freedom (DOF), in which the positions are stabilized according to the Lyapunov stability theory. A dynamic model is first derived, and then a sequential nonlinear control strategy is implemented for the X4-AUV which is composed of translational and rotational subsystems. A controller for the translational subsystem stabilizes one position out of the 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 the desired (x-, y-, or z-) position of the vehicle. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers.
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This work was presented in part and was awarded Young Author Award at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011
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Zain, Z.M., Watanabe, K., Izumi, K. et al. A nonholonomic control method for stabilizing an X4-AUV. Artif Life Robotics 16, 202–207 (2011). https://doi.org/10.1007/s10015-011-0918-8
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DOI: https://doi.org/10.1007/s10015-011-0918-8