Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle

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

Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle

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

Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper develops for the first time an output-feedback universal controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator (ODIN), an underwater vehicle, in a horizontal plane with only position and orientation measurements available. A nonlinear passive observer is proposed to estimate unavailable velocity measurements. The control development is based on Lyapunov's direct method, backstepping technique and utilizes several physical properties of the underwater vehicle.

Original language	English (US)
Pages (from-to)	504-509
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	1
State	Published - 2002
Event	41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Duration: Dec 10 2002 → Dec 13 2002

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Cite this

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title = "Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle",

abstract = "This paper develops for the first time an output-feedback universal controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator (ODIN), an underwater vehicle, in a horizontal plane with only position and orientation measurements available. A nonlinear passive observer is proposed to estimate unavailable velocity measurements. The control development is based on Lyapunov's direct method, backstepping technique and utilizes several physical properties of the underwater vehicle.",

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

year = "2002",

language = "English (US)",

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journal = "Proceedings of the IEEE Conference on Decision and Control",

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note = "41st IEEE Conference on Decision and Control ; Conference date: 10-12-2002 Through 13-12-2002",

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AU - Do, K. D.

AU - Jiang, Z. P.

AU - Pan, J.

AU - Nijmeijer, H.

PY - 2002

Y1 - 2002

N2 - This paper develops for the first time an output-feedback universal controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator (ODIN), an underwater vehicle, in a horizontal plane with only position and orientation measurements available. A nonlinear passive observer is proposed to estimate unavailable velocity measurements. The control development is based on Lyapunov's direct method, backstepping technique and utilizes several physical properties of the underwater vehicle.

AB - This paper develops for the first time an output-feedback universal controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator (ODIN), an underwater vehicle, in a horizontal plane with only position and orientation measurements available. A nonlinear passive observer is proposed to estimate unavailable velocity measurements. The control development is based on Lyapunov's direct method, backstepping technique and utilizes several physical properties of the underwater vehicle.

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M3 - Conference article

AN - SCOPUS:0036994182

SN - 0191-2216

VL - 1

SP - 504

EP - 509

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - 41st IEEE Conference on Decision and Control

Y2 - 10 December 2002 through 13 December 2002

ER -

Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle

Abstract

ASJC Scopus subject areas

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