Incremental input to state stability of underwater vehicle

Mohamed, Majeed and Swaroop, S. Shanthi (2016) Incremental input to state stability of underwater vehicle. IFAC-PapersOnLine, 49 (1). pp. 41-46. ISSN 24058963

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Abstract

This paper discusses the incremental stability of underwater vehicle based on the newly introduced contraction based input to state stability analysis. Stability analysis considered in vehicle dynamics has ability to constructing the controller and contraction metrics. The controller design is restricted to parametric-strict-feedback form to develop a back stepping design method. The proposed approach in this paper provides a recursive way of constructing a controller and it enforce incremental input to state stability of a vehicle and not just global asymptotic stability.

Item Type: Article
Subjects: MATHEMATICAL AND COMPUTER SCIENCES > Mathematical and Computer Scienes(General)
MATHEMATICAL AND COMPUTER SCIENCES > Theoretical Mathematics
Depositing User: Mrs SK Pratibha
Date Deposited: 10 Jul 2018 10:00
Last Modified: 10 Jul 2018 10:00
URI: http://nal-ir.nal.res.in/id/eprint/12890

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