Stability Analysis on S Plane Control of Underwater Vehicles

Yue Ming Li; Ying Hao Zhang; Guo Cheng Zhang; Zhong Hui Hu

doi:10.4028/www.scientific.net/AMM.437.716

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 437Stability Analysis on S Plane Control of...

Stability Analysis on S Plane Control of Underwater Vehicles

Abstract:

This paper addresses the stability analysis on S Plane Control in terms of both position and velocity control. Employing Lyapunov stability theory and T-passivity theory, this paper proves the stability of the position controller based on S Plane Control, and on this ground, the stability analysis of the velocity controller based on S Plane Control is done. Finally, the S Plane Control results obtained from the sea trials are given.

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Periodical:

Applied Mechanics and Materials (Volume 437)

Pages:

716-721

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.437.716

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Online since:

October 2013

Authors:

Yue Ming Li*, Ying Hao Zhang, Guo Cheng Zhang, Zhong Hui Hu

Keywords:

Autonomous Underwater Vehicle (AUV), S Plane Controller, Stability Analysis

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