Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
Original version
10.1109/TCST.2023.3345211Abstract
In this article, the 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 sufficient conditions 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 a USR when approaching from such a direction that the USR moves against the current. A simulation study of the controller applied to the ideal case is then studied to investigate how the controller performs. Then, the theoretical results are validated through a high-fidelity simulation study.