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2021 | OriginalPaper | Chapter

7. Nonlinear Stability for Marine Vehicles

Author : Karl Dietrich von Ellenrieder

Published in: Control of Marine Vehicles

Publisher: Springer International Publishing

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Abstract

Here we examine techniques for analyzing the stability of both time-invariant and time-varying nonlinear systems. Lyapunov’s Direct (Second) Method and LaSalle’s Invariant Set Theorem are introduced, together with some common approaches for the determination of candidate Lyapunov functions. The concepts of ultimate boundedness and practical stability are introduced for the analysis of time-varying systems with exogenous disturbances. Lastly, the use of Barbalat’s Lemma for analyzing the stability of systems with time-varying parameters is discussed.

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Metadata
Title
Nonlinear Stability for Marine Vehicles
Author
Karl Dietrich von Ellenrieder
Copyright Year
2021
Book
Control of Marine Vehicles

Print ISBN: 978-3-030-75020-6

Electronic ISBN: 978-3-030-75021-3

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-3-030-75021-3_7

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