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 co...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.展开更多
An interval Pade-type approximation is introduced and then Routh-Pade-type method （IRPTM） is presented to model reduction in interval systems. The denominator in reduced model is obtained from the stable Routh table...An interval Pade-type approximation is introduced and then Routh-Pade-type method （IRPTM） is presented to model reduction in interval systems. The denominator in reduced model is obtained from the stable Routh table, and its numerator is constructed by the interval Pade-type definition. Compared to the existing Routh-Pade method, IRPTM does not need to solve linear interval equations theoretical analysis shows that IRPTM has example is given to illustrate our method. Hence, we do not have to compute smaller computational cost than that interval division in the process. Moreover, of Routh-Pade method. A typical numerical展开更多
基金supported by Naval Research Board(NRB)Defense Research Development Organization(DRDO)Government of India(No.DNRD/05/4003/NRB/160)
文摘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.
基金Project supported by the National Natural Science Foundation of China (Grant No.10271074)the Shanghai Leading Academic Discipline Project (Grant No.J50101)
文摘An interval Pade-type approximation is introduced and then Routh-Pade-type method （IRPTM） is presented to model reduction in interval systems. The denominator in reduced model is obtained from the stable Routh table, and its numerator is constructed by the interval Pade-type definition. Compared to the existing Routh-Pade method, IRPTM does not need to solve linear interval equations theoretical analysis shows that IRPTM has example is given to illustrate our method. Hence, we do not have to compute smaller computational cost than that interval division in the process. Moreover, of Routh-Pade method. A typical numerical
