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

Research output: Contribution to journalArticle

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 languageEnglish (US)
Pages (from-to)117-124
Number of pages8
JournalAutomatica
Volume40
Issue number1
DOIs
StatePublished - 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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