Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method
文献类型：期刊论文
| 作者 | Basant Kumar Sahu3; Bidyadhar Subudhi2; Madan Mohan Gupta1 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 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. |
| 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 Technology, Rourkela 769008, India 3.Department of Electrical Engineering, National Institute of Science and Technology, Berhampur 761008, 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. |
入库方式： OAI收割
来源：自动化研究所
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