A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle.

DOI10.1016/j.automatica.2003.08.004zbMath1051.93072OpenAlexW2155273341MaRDI QIDQ1426273

Henk Nijmeijer, Jie Pan, Khac Duc Do, Zhong-Ping Jiang

Publication date: 14 March 2004

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2003.08.004

zbMATH Keywords

nonlinear controlLyapunov stabilityoutput feedbackglobal asymptotic stabilizationsimultaneous tracking and stabilizationspherical underwater vehicle

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

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