dc.contributor.author | Orucevic, Amer | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Chaillet, Antoine | |
dc.date.accessioned | 2023-03-02T09:57:53Z | |
dc.date.available | 2023-03-02T09:57:53Z | |
dc.date.created | 2023-01-17T12:46:31Z | |
dc.date.issued | 2022 | |
dc.identifier.issn | 1085-1992 | |
dc.identifier.uri | https://hdl.handle.net/11250/3055237 | |
dc.description.abstract | In this paper, Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First, a precise definition of UPAS is presented, which imposes that, locally, all solutions converge to the origin up to a steady-state error that can be arbitrarily reduced by a convenient parameter tuning. Additionally, a sufficient condition for UPAS of a time-varying nonlinear system and a theorem for UPAS of cascaded systems are presented. These are then utilized to design controllers that stabilize the position of an USR when approaching from such a direction that the USR moves against the current. Results from numerical simulations are then investigated to validate the theoretical results. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.title | Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots | en_US |
dc.title.alternative | Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.journal | Proceedings of the IEEE Conference on Control Applications | en_US |
dc.identifier.doi | 10.1109/CCTA49430.2022.9966034 | |
dc.identifier.cristin | 2108532 | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 0 | |