Backstepping and Sliding-Mode Methods for Stabilizing an Underactuated X4-AUV

Authors

  • Zainah Md. Zain Robotics and Unmanned Research Group (RUS), Instrument & Control Engineering (ICE) Cluster, Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, 26600 Pekan, Pahang, Malaysia.
  • NurFadzillah Harun Robotics and Unmanned Research Group (RUS), Instrument & Control Engineering (ICE) Cluster, Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, 26600 Pekan, Pahang, Malaysia.
  • Nur Natasha Hanipah Robotics and Unmanned Research Group (RUS), Instrument & Control Engineering (ICE) Cluster, Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, 26600 Pekan, Pahang, Malaysia.
  • Norhafizah Md. Zain Faculty of Agro-based Industry, University of Malaysia Kelantan, Locked bag no 100, 17600 Jeli, Kelantan, Malaysia.

Keywords:

Underactuated System, X4-AUV, Backstepping Control, Sliding-Mode Control,

Abstract

In this paper, we are interested principally in dynamic modelling of an autonomous underwater vehicle (X4-AUV) while taking into account the high order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamic of a swimming structure. We deal with the design of two controllers, based on backstepping and sliding-mode control techniques to stabilize altitude and attitude of an underactuated X4-AUV. The designed controllers are: full backstepping control for attitude and altitude control, and partially slidingmode control for attitude combine with altitude backstepping control. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers.

References

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Published

2017-06-01

How to Cite

Md. Zain, Z., Harun, N., Hanipah, N. N., & Md. Zain, N. (2017). Backstepping and Sliding-Mode Methods for Stabilizing an Underactuated X4-AUV. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 9(2-3), 1–7. Retrieved from https://jtec.utem.edu.my/jtec/article/view/2264

Issue

Vol. 9 No. 2-3: Circuit and System Advancement in Modern World II

Section

Articles

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