A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

K. D. Do; Z. P. Jiang; J. Pan; H. Nijmeijer

doi:10.1016/j.automatica.2003.08.004

A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

K. D. Do, Z. P. Jiang, J. Pan, H. Nijmeijer

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator - a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.

Original language	English (US)
Pages (from-to)	117-124
Number of pages	8
Journal	Automatica
Volume	40
Issue number	1
DOIs	https://doi.org/10.1016/j.automatica.2003.08.004
State	Published - Jan 2004

Keywords

Nonlinear control
ODIN
Output-feedback
Simultaneous tracking and stabilization

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/j.automatica.2003.08.004

Cite this

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title = "A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle",

abstract = "This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator - a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.",

keywords = "Nonlinear control, ODIN, Output-feedback, Simultaneous tracking and stabilization",

author = "Do, {K. D.} and Jiang, {Z. P.} and J. Pan and H. Nijmeijer",

note = "Funding Information: Dr. Jiang is the recipient of a prestigious Queen Elizabeth II Fellowship Award (1998) from the Australian Research Council and a CAREER Award (2000) from the U.S. National Science Foundation. He is recently appointed as an Othmer Junior Fellow at the Othmer Institute for Interdisciplinary Studies, Polytechnic University. ",

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AU - Pan, J.

AU - Nijmeijer, H.

N1 - Funding Information: Dr. Jiang is the recipient of a prestigious Queen Elizabeth II Fellowship Award (1998) from the Australian Research Council and a CAREER Award (2000) from the U.S. National Science Foundation. He is recently appointed as an Othmer Junior Fellow at the Othmer Institute for Interdisciplinary Studies, Polytechnic University.

PY - 2004/1

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N2 - This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator - a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.

AB - This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator - a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.

KW - Nonlinear control

KW - ODIN

KW - Output-feedback

KW - Simultaneous tracking and stabilization

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JO - Automatica

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A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

Abstract

Keywords

ASJC Scopus subject areas

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