AUV侧向运动弱关联模型的稳定性分析

Stability Analysis of Weakly Connected Transversal Model of AUV

通过使用小参数μ刻画AUV纵向运动参数对侧向运动产生的交连耦合作用,建立了带小参数的AUV侧向运动弱关联模型。结合Lyapunov稳定性方法与向量函数理论,通过选择合适的测度对Lyapunov函数及其全导数进行估计,得到了弱关联系统μ稳定的代数条件,并且将其应用于AUV侧向运动弱关联模型,分析了小参数μ对反馈控制参数的影响。最后通过仿真实验,在选择不同反馈控制参数的情况下,验证了结论的正确性。

By using a small parameterwhich characterizes the intercoupling between the vertical and transversal motion of AUV,the weakly connected transversal model with a small parameter is derived.With a synthesis procedure based on the Lyapunov method and the theory of vector function,we get the algebraic conditions under which a weakly connected system is - stable via a proper measure to estimate the Lyapunov function and its full derivation. Whereafter,by utilizing these algebraic conditions into the weakly connected transversal model of AUV,an analysis on how the small parameter affects the feedback parameters is carried out.At last,a simulation with different feedback parameters shows that our result is available.