Stability Analysis on Speed Control System of Autonomous Underwater Vehicle |
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| Authors: | LI Ye a b PANG Yong-jie a WAN Lei a WANG Fang a b LIAO Yu-lei a baState Key Laboratory of Autonomous Underwater Vehicle Harbin Engineering University Harbin China bCollege of Shipbuilding Engineering China |
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| Institution: | [1]State Key laboratory of Autonomous Underwater Vehicle, Harbin Engineering University,Harbin 1250001, China [2]College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems. |
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| Keywords: | autonomous underwater vehicle(AUV) control system stability analysis Lyapunov's stability theory |
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