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

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PourmahmoodAghababa M.; Aghababazadeh Sh.

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING Year:2019 | Volume:49 | Issue:2 (87) Page(s): 21-30

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Title

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. | Issue Writer Certificate

Keywords

Autonomous underwater vehicle

Proportional

derivative controller

Dead

zone non

linearity

Finite

time control

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.

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APA: Copy

PourmahmoodAghababa, M., & Aghababazadeh, Sh.. (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. SID. https://sid.ir/paper/270089/en

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[Internet]. 2019;49(2 (87) ):21-30. Available from: https://sid.ir/paper/270089/en

IEEE: Copy

M. PourmahmoodAghababa, and Sh. Aghababazadeh, “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, vol. 49, no. 2 (87) , pp. 21–30, 2019, [Online]. Available: https://sid.ir/paper/270089/en

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