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

Research output: Contribution to journalConference article


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 languageEnglish (US)
Pages (from-to)504-509
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this