A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle. (Q1426273): Difference between revisions

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Revision as of 18:42, 21 March 2024

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A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle.
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    A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle. (English)
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    14 March 2004
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    Stabilization and tracking control of underactuated autonomous underwater vehicles are challenging problems because the vehicles possess more degrees of freedom than controls. The authors propose a method to design a single controller that forces an omni-directional intelligent navigator without a sway actuator and having three planes of symmetry. This navigator simultaneously solves global asymptotic stabilization and tracking such that the underwater vehicle moves in a horizontal plane with only position and orientations measurements. The problem is solved by means of the Lyapunov direct method. Numerical simulations are verified for the developed methodology.
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    spherical underwater vehicle
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    simultaneous tracking and stabilization
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    global asymptotic stabilization
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    Lyapunov stability
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    nonlinear control
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    output feedback
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