Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method

doi:10.1007/s11633-016-0992-4

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > International Journal of Automation and Computing

	Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method
	Basant Kumar Sahu 2; Bidyadhar Subudhi 3; Madan Mohan Gupta 1
刊名	International Journal of Automation and Computing
	2018
卷号	16 期号:3 页码:299-309
关键词	Routh's stability extended-Routh s stability autonomous underwater vehicle (AUV) underactuated system underwater robots.
ISSN号	1476-8186
DOI	10.1007/s11633-016-0992-4
英文摘要	In this paper, a new approach to stability analysis of nonlinear dynamics of an underactuated autonomous underwater vehicle (AUV) is presented. AUV is a highly nonlinear robotic system whose dynamic model includes coupled terms due to the hydrodynamic damping factors. It is difficult to analyze the stability of a nonlinear dynamical system through Routh s stability approach because it contains nonlinear dynamic parameters owing to hydrodynamic damping coefficients. It is also difficult to analyze the stability of AUVs using Lyapunov s criterion and LaSalle's invariance principle. In this paper, we proposed the extended-Routh's stability approach to verify the stability of such nonlinear dynamic systems. This extended-Routh s stability approach is much easier as compared to the other existing methods. Numerical simulations are presented to demonstrate the efficacy of the proposed stability verification of the nonlinear dynamic systems, e.g., an AUV system dynamics.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42411]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.Intelligent Systems Research Laboratory, College of Engineering, University of Saskatchewan, Saskatoon S7N 5A9, Canada 2.Department of Electrical Engineering, National Institute of Science and Technology, Berhampur 761008, India 3.Department of Electrical Engineering, National Institute of Technology, Rourkela 769008, India
推荐引用方式 GB/T 7714	Basant Kumar Sahu,Bidyadhar Subudhi,Madan Mohan Gupta. Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method[J]. International Journal of Automation and Computing,2018,16(3):299-309.
APA	Basant Kumar Sahu,Bidyadhar Subudhi,&Madan Mohan Gupta.(2018).Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method.International Journal of Automation and Computing,16(3),299-309.
MLA	Basant Kumar Sahu,et al."Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method".International Journal of Automation and Computing 16.3(2018):299-309.