Observer-based controller design for remotely operated vehicle ROV
- Resource Type
- Conference
- Authors
- Khadhraoui, Adel; Beji, Lotfi; Otmane, Samir; Abichou, Azgal
- Source
- 2014 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO) Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on. 01:200-207 Sep, 2014
- Subject
- Bioengineering
Components, Circuits, Devices and Systems
Computing and Processing
Robotics and Control Systems
Observers
Vectors
Vehicles
Position measurement
Nonlinear systems
Mathematical model
Vehicle dynamics
Observer
Controller
Estimation
Lyapunov theory
Stabilization
ROV
- Language
This paper presents a method to design an observer-based controller that simultaneously solves global estimation of state and asymptotic stabilization of an underactuated remotely operated vehicle moving in the in three-dimensional. The vehicle does not have a sway and roll actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method for nonlinear system.