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A robust controller design method and stability analysis of an underactuated underwater vehicle

Cheng Siong ChinMicheal Wai Shing LauEicher LowGerald Gim Lee Seet — 2006

International Journal of Applied Mathematics and Computer Science

The problem of designing a stabilizing feedback controller for an underactuated system is a challenging one since a nonlinear system is not stabilizable by a smooth static state feedback law. A necessary condition for the asymptotical stabilization of an underactuated vehicle to a single equilibrium is that its gravitational field has nonzero elements corresponding to unactuated dynamics. However, global asymptotical stability (GAS) cannot be guaranteed. In this paper, a robust proportional-integral-derivative...

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