A nonholonomic control method for stabilizing an X4-AUV
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....
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| Veröffentlicht in: | Artificial life and robotics 2011-09, Vol.16 (2), p.202-207 |
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| container_end_page | 207 |
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| container_issue | 2 |
| container_start_page | 202 |
| container_title | Artificial life and robotics |
| container_volume | 16 |
| creator | Zain, Zainah Md Watanabe, Keigo Izumi, Kiyotaka Nagai, Isaku |
| description | 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. |
| doi_str_mv | 10.1007/s10015-011-0918-8 |
| format | Article |
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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.</description><identifier>ISSN: 1433-5298</identifier><identifier>EISSN: 1614-7456</identifier><identifier>DOI: 10.1007/s10015-011-0918-8</identifier><language>eng</language><publisher>Japan: Springer Japan</publisher><subject>Artificial Intelligence ; Autonomous underwater vehicles ; Computation by Abstract Devices ; Computer Science ; Control ; Degrees of freedom ; Dynamic models ; Mathematical analysis ; Mechatronics ; Original Article ; Robotics ; Rotational ; Strategy ; Thrusters ; Yaw</subject><ispartof>Artificial life and robotics, 2011-09, Vol.16 (2), p.202-207</ispartof><rights>International Symposium on Artificial Life and Robotics (ISAROB). 2011</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c353t-bba875a4fba959ad8340f4f3c212fd080209b0e1a612ecfb27ffe7de86d743e33</citedby><cites>FETCH-LOGICAL-c353t-bba875a4fba959ad8340f4f3c212fd080209b0e1a612ecfb27ffe7de86d743e33</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s10015-011-0918-8$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s10015-011-0918-8$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,777,781,27905,27906,41469,42538,51300</link.rule.ids></links><search><creatorcontrib>Zain, Zainah Md</creatorcontrib><creatorcontrib>Watanabe, Keigo</creatorcontrib><creatorcontrib>Izumi, Kiyotaka</creatorcontrib><creatorcontrib>Nagai, Isaku</creatorcontrib><title>A nonholonomic control method for stabilizing an X4-AUV</title><title>Artificial life and robotics</title><addtitle>Artif Life Robotics</addtitle><description>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.</description><subject>Artificial Intelligence</subject><subject>Autonomous underwater vehicles</subject><subject>Computation by Abstract Devices</subject><subject>Computer Science</subject><subject>Control</subject><subject>Degrees of freedom</subject><subject>Dynamic models</subject><subject>Mathematical analysis</subject><subject>Mechatronics</subject><subject>Original Article</subject><subject>Robotics</subject><subject>Rotational</subject><subject>Strategy</subject><subject>Thrusters</subject><subject>Yaw</subject><issn>1433-5298</issn><issn>1614-7456</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2011</creationdate><recordtype>article</recordtype><recordid>eNp9kD1PwzAQhi0EEqXwA9iywWI4fyS2x6riS6rEQhGb5SR2myqxi50O8OtxFeYu997wvCfdg9AtgQcCIB5TnqTEQAgGRSSWZ2hGKsKx4GV1nnfOGC6pkpfoKqUdABdQsRkSi8IHvw198GHomqIJfoyhLwY7bkNbuBCLNJq667vfzm8K44svjhfrz2t04Uyf7M1_ztH6-elj-YpX7y9vy8UKN6xkI65rI0VpuKuNKpVpJePguGMNJdS1IIGCqsESUxFqG1dT4ZwVrZVVKzizjM3R3XR3H8P3waZRD11qbN8bb8MhaUUrRikteSbvT5KkEoRRphRklExoE0NK0Tq9j91g4o8moI869aRTZ536qFPL3KFTJ2XWb2zUu3CIPv9-ovQHOB52gg</recordid><startdate>20110901</startdate><enddate>20110901</enddate><creator>Zain, Zainah Md</creator><creator>Watanabe, Keigo</creator><creator>Izumi, Kiyotaka</creator><creator>Nagai, Isaku</creator><general>Springer Japan</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7TN</scope><scope>F1W</scope><scope>H96</scope><scope>L.G</scope></search><sort><creationdate>20110901</creationdate><title>A nonholonomic control method for stabilizing an X4-AUV</title><author>Zain, Zainah Md ; Watanabe, Keigo ; Izumi, Kiyotaka ; Nagai, Isaku</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c353t-bba875a4fba959ad8340f4f3c212fd080209b0e1a612ecfb27ffe7de86d743e33</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Artificial Intelligence</topic><topic>Autonomous underwater vehicles</topic><topic>Computation by Abstract Devices</topic><topic>Computer Science</topic><topic>Control</topic><topic>Degrees of freedom</topic><topic>Dynamic models</topic><topic>Mathematical analysis</topic><topic>Mechatronics</topic><topic>Original Article</topic><topic>Robotics</topic><topic>Rotational</topic><topic>Strategy</topic><topic>Thrusters</topic><topic>Yaw</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Zain, Zainah Md</creatorcontrib><creatorcontrib>Watanabe, Keigo</creatorcontrib><creatorcontrib>Izumi, Kiyotaka</creatorcontrib><creatorcontrib>Nagai, Isaku</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Oceanic Abstracts</collection><collection>ASFA: Aquatic Sciences and Fisheries Abstracts</collection><collection>Aquatic Science & Fisheries Abstracts (ASFA) 2: Ocean Technology, Policy & Non-Living Resources</collection><collection>Aquatic Science & Fisheries Abstracts (ASFA) Professional</collection><jtitle>Artificial life and robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Zain, Zainah Md</au><au>Watanabe, Keigo</au><au>Izumi, Kiyotaka</au><au>Nagai, Isaku</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A nonholonomic control method for stabilizing an X4-AUV</atitle><jtitle>Artificial life and robotics</jtitle><stitle>Artif Life Robotics</stitle><date>2011-09-01</date><risdate>2011</risdate><volume>16</volume><issue>2</issue><spage>202</spage><epage>207</epage><pages>202-207</pages><issn>1433-5298</issn><eissn>1614-7456</eissn><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.</abstract><cop>Japan</cop><pub>Springer Japan</pub><doi>10.1007/s10015-011-0918-8</doi><tpages>6</tpages></addata></record> |
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| ispartof | Artificial life and robotics, 2011-09, Vol.16 (2), p.202-207 |
| issn | 1433-5298 1614-7456 |
| language | eng |
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| source | SpringerLink Journals - AutoHoldings |
| subjects | Artificial Intelligence Autonomous underwater vehicles Computation by Abstract Devices Computer Science Control Degrees of freedom Dynamic models Mathematical analysis Mechatronics Original Article Robotics Rotational Strategy Thrusters Yaw |
| title | A nonholonomic control method for stabilizing an X4-AUV |
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