Incremental Input to State Stability of Underwater Vehicle

This paper discusses the incremental stability of underwater vehicle based on the newly introduced contraction based input to state stability analysis. Stability analysis considered in vehicle dynamics has ability to constructing the controller and contraction metrics. The controller design is restricted to parametric-strict-feedback form to develop a back stepping design method. The proposed approach in this paper provides a recursive way of constructing a controller and it enforce incremental input to state stability of a vehicle and not just global asymptotic stability.