Observer-based controller design for remotely operated vehicle ROV

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.