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

doi:10.1007/s11633-016-0992-4

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	Stability Analysis of an Underactuated Autonomous Underwater Vehicle Using Extended-Routh's Stability Method
	Basant Kumar Sahu 1; Bidyadhar Subudhi 2; Madan Mohan Gupta 3
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2018
卷号	16 期号:3 页码:299-309
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 Rouths stability approach because it contains nonlinear dynamic parameters owing to hydrodynamic damping coefficients. It is also difficult to analyze the stability of AUVs using Lyapunovs 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-Rouths 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.
关键词	Routh's stability extended-Rouths stability autonomous underwater vehicle (AUV) underactuated system underwater robots.
DOI	10.1007/s11633-016-0992-4
引用统计	被引频次：11[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42411
专题	学术期刊_Machine Intelligence Research
作者单位	1.Department of Electrical Engineering, National Institute of Science and Technology, Berhampur 761008, India 2.Department of Electrical Engineering, National Institute of Technology, Rourkela 769008, India 3.Intelligent Systems Research Laboratory, College of Engineering, University of Saskatchewan, Saskatoon S7N 5A9, Canada
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.

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