Backstepping and Sliding-Mode Methods for Stabilizing an Underactuated X4-AUV
Keywords:Underactuated System, X4-AUV, Backstepping Control, Sliding-Mode Control,
AbstractIn 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.
Tian Z, Wu H, Feng C. 2010. Hierarchical Adaptive Backstepping Sliding Mode Control for Underactuated Space Robot. In: 2010 2nd International Asia Conference on Informatics In Control, Automation And Robotics (CAR). 1: 500–3.
Muniandy M and Muthusamy K. 2012. An Innovative Design To Improve Systematic Odometry Error In Non-Holonomic Wheeled Mobile Robots. Procedia Engineering. 41(0):436–42.
Oryschuk P, Salerno A, Al-Husseini A, Angeles J. 2009. Experimental Validation of an Underactuated Two-Wheeled Mobile Robot. IEEE/ASME Transactions on Mechatronics, 14(2):252–7.
Woods S, Bauer R, Seto M. 2012. Automated Ballast Tank Control System For Autonomous Underwater Vehicles. IEEE Journal of Oceanic Engineering. 37(4): 727–39.
Aguiar A, Hespanha J. 2007. Trajectory-Tracking And Path-Following Of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty. IEEE Transactions on Automatic Control. 52(8):1362–79.
Ge S, Lee T, Zhu G. 1996. Genetic Algorithm Tuning Of LyapunovBased Controllers An Application To A Single-Link Flexible Robot System. IEEE Transactions on Industrial Electronics. 43(5):567–74.
Hussein I, Bloch A 2008. Optimal Control Of Underactuated Nonholonomic Mechanical Systems. IEEE Transactions on Automatic Control. 53(3):668–82.
Spong M. 1995. The Swing Up Control Problem For The Acrobot. IEEE Control Systems, 15(1):49–55.
Spong MW. 1987. Modeling and control of elastic joint robots. Journal of Dynamic Systems, Measurement and Control. 109(4):310–8.
Chen Y-F, Huang A-C. 2012. Controller Design For A Class Of Underactuated Mechanical Systems. IET Control Theory Applications. 6(1):103–10.
Man W-S, Lin J-S. 2010. Nonlinear Control Design For A Class Of Underactuated Systems. In: IEEE international conference on control applications (CCA), 1439–44.
Olfati-Saber R. 2001. Nonlinear Control Of Underactuated Mechanical Systems With Application To Robotics And Aerospace Vehicles. PhD thesis.
Ravichandran M and Mahindrakar A. 2011. Robust Stabilization Of A Class Of Underactuated Mechanical Systems Using Time Scaling And Lyapunov Redesign. IEEE Transactions on Industrial Electronics. 58(9):4299–313.
How to Cite
TRANSFER OF COPYRIGHT AGREEMENT
The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):
- All proprietary right other than copyright, such as patent rights
- The right to make further copies of all or part of the published article for my use in classroom teaching
- The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
- The right to make copies of the published work for internal distribution within the institution that employs me
I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.