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

作     者：Basant Kumar Sahu Bidyadhar Subudhi Madan Mohan Gupta 

作者机构：Department of Electrical Engineering National Institute of Science and TechnologyBerhampur Department of Electrical Engineering National Institute of TechnologyRourkela Intelligent Systems Research Laboratory College of Engineering University of Saskatchewan 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2018年第15卷第3期

页      面：299-309页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by Naval Research Board(NRB) Defense Research Development Organization(DRDO) Government of India(No.DNRD/05/4003/NRB/160) 

主　　题：Routh's stability extended-Routh's stability autonomous underwater vehicle (AUV) underactuated system underwaterrobots. 

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.