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

Author

Do, K.D. ; Jiang, Z.-P. ; Pan, I. ; Nijmeijer, H.

Author_Institution

Dept. of Mech. & Mater. Eng., Western Australia Univ., Nedlands, WA, Australia

Volume

1

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

504

Abstract

Develops for the first time an output-feedback universal controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omnidirectional 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.

Keywords

Lyapunov methods; asymptotic stability; control system synthesis; feedback; mobile robots; nonlinear control systems; observers; position control; tracking; underwater vehicles; Lyapunov´s direct method; autonomous underwater vehicles; backstepping technique; global asymptotic stabilization; global output feedback universal controller; nonlinear passive observer; orientation measurements; position measurements; tracking; underactuated ODIN; underactuated omnidirectional intelligent navigator; Automotive engineering; Backstepping; Control systems; Intelligent vehicles; Marine vehicles; Navigation; Output feedback; Surges; Underwater tracking; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184546

Filename

1184546