Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Published: 01 Jan 2024, Last Modified: 12 May 2025IEEE Trans. Control. Syst. Technol. 2024EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: 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.
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