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Paper Information

Journal:   JOURNAL OF MECHANICAL ENGINEERING   SUMMER 2019 , Volume 49 , Number 2 (87) ; Page(s) 21 To 30.
 
Paper: 

Design of Finite – time Proportional-Derivative (AFPD) Controller for Stabilization of Six DOF Autonomous Underwater Vehicle (AUV) with Input Dead-zone Non-Linearity, uncertainty and Noise

 
 
Author(s):  PourmahmoodAghababa M., Aghababazadeh Sh.
 
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Abstract: 
One of the important factors for stabilization of autonomous underwater vehicles (AUV) is considering high nonlinearity of underwater environments. In this paper, firstly global finite-time stability of six DOF autonomous underwater vehicles without input dead-zone non-linearity based on adaptive finite-time proportional-derivative (AFPD) controller is proposed. The proposed controller doesn’ t refer to the modeling parameter and is much simpler; thus it is readily implemented. Stability of the system is guaranteed by the Lyapunov’ s direct method, LaSalle’ s invariance principle and geometric homogeneity techniques. Then global finite-time stability of the system with considering input dead-zone non-linearity, uncertainty and noise based on Lyapunov’ s direct method and a finite-time stability lemma is proven. Theoretical analysis also shows the finite– time stability of the AUV’ s states. Analysis results are confirmed via computer simulations.
 
Keyword(s): Autonomous underwater vehicle,Proportional,derivative controller,Dead,zone non,linearity,Finite,time control
 
 
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APA: Copy

PourmahmoodAghababa, M., & Aghababazadeh, S. (2019). Design of Finite – time Proportional-Derivative (AFPD) Controller for Stabilization of Six DOF Autonomous Underwater Vehicle (AUV) with Input Dead-zone Non-Linearity, uncertainty and Noise. JOURNAL OF MECHANICAL ENGINEERING, 49(2 (87) ), 21-30. https://www.sid.ir/en/journal/ViewPaper.aspx?id=733752



Vancouver: Copy

PourmahmoodAghababa M., Aghababazadeh Sh.. Design of Finite – time Proportional-Derivative (AFPD) Controller for Stabilization of Six DOF Autonomous Underwater Vehicle (AUV) with Input Dead-zone Non-Linearity, uncertainty and Noise. JOURNAL OF MECHANICAL ENGINEERING. 2019 [cited 2021October21];49(2 (87) ):21-30. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=733752



IEEE: Copy

PourmahmoodAghababa, M., Aghababazadeh, S., 2019. Design of Finite – time Proportional-Derivative (AFPD) Controller for Stabilization of Six DOF Autonomous Underwater Vehicle (AUV) with Input Dead-zone Non-Linearity, uncertainty and Noise. JOURNAL OF MECHANICAL ENGINEERING, [online] 49(2 (87) ), pp.21-30. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=733752.



 
 
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