Bifurcation Analysis for Sailing Stability of Autonomous Underwater Vehicle

摘要：

　　There are several nonlinear elements in the equations of Autonomous Underwater Vehicle(AUV) movements.It is difficult to deal nonlinear problem with traditional methods.A hydrodynamic parameter interference is chosen as bifurcation parameter at first.Then the sailing stability of AUV with proportional-derivative controller is analysed by bifurcation theory.The center manifold theory is used to get the expression of system state parameters.And the Hopf bifurcation of system is analysed.The result is verified by numerical simulations.It shows that the hydrodynamic parameters changing will bring Hopf bifurcation for depthkeeping saiiling.And the range of hydrodynamic parameter value that insures AUV sailing stability is given.

关键词： Dynamic system Bifurcation Sailing stability AUV

作者: Songshi Shao Jiong Sun Kai Liu

作者单位: Office of Research and Development Naval Univ.of Engineering,Wuhan,Hubei,430033,China

会议类型: 国际会议

会议名称: the 2010 International Conference on Frontiers of Manufacturing and Design Science(第一届制造与设计科学国际会议(ICFMD 2010))

会议地点: 重庆

会议语种:英文

页码: 1682-1686

在线出版日期: 2010-12-11（万方平台首次上网日期，不代表论文的发表时间）