Stability Analysis on S Plane Control of Underwater Vehicles

Abstract

This paper addresses the stability analysis on S Plane Control in terms of both position and velocity control. Employing Lyapunov stability theory and T-passivity theory, this paper proves the stability of the position controller based on S Plane Control, and on this ground, the stability analysis of the velocity controller based on S Plane Control is done. Finally, the S Plane Control results obtained from the sea trials are given.