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A discontinuous exponential stabilization law for an underactuated X4-AUV

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Abstract

In this paper, stabilization of a class of second-order nonholonomic systems for an underactuated X4-AUV is investigated. We present a model of the underactuated X4-AUV with six degrees of freedom (DOF) and four control inputs. Then, the system is written in a control-affine form by applying a partial linearization technique, and a dynamic controller based on Astolfi’s discontinuous control is derived to stabilize all states of the system to the desired equilibrium point exponentially. The present approach does not necessitate the conversion of the system model into a “chained form”, and thus does not rely on any special transformation techniques to obtain a canonical form. A simulation is conducted to demonstrate the effectiveness of the proposed controller.

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Author information

Authors and Affiliations

  1. Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, 700-8530, Japan

    Zainah Md. Zain, Keigo Watanabe & Isaku Nagai

  2. Department of Mechanical Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga, 840-8502, Japan

    Kiyotaka Izumi

Authors
  1. Zainah Md. Zain
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  2. Keigo Watanabe
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  3. Kiyotaka Izumi
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  4. Isaku Nagai
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Corresponding author

Correspondence to Zainah Md. Zain.

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Md. Zain, Z., Watanabe, K., Izumi, K. et al. A discontinuous exponential stabilization law for an underactuated X4-AUV. Artif Life Robotics 17, 463–469 (2013). https://doi.org/10.1007/s10015-012-0082-9

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  • DOI: https://doi.org/10.1007/s10015-012-0082-9

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