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

K. D. Do, Zhong-Ping Jiang, J. Pan, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages504-509
Number of pages6
Volume1
StatePublished - 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002

Other

Other41st IEEE Conference on Decision and Control
CountryUnited States
CityLas Vegas, NV
Period12/10/0212/13/02

Fingerprint

Stabilization
Feedback
Controllers
Backstepping
Velocity measurement
Physical properties

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Do, K. D., Jiang, Z-P., Pan, J., & Nijmeijer, H. (2002). Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle. In Proceedings of the IEEE Conference on Decision and Control (Vol. 1, pp. 504-509)

Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle. / Do, K. D.; Jiang, Zhong-Ping; Pan, J.; Nijmeijer, H.

Proceedings of the IEEE Conference on Decision and Control. Vol. 1 2002. p. 504-509.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Do, KD, Jiang, Z-P, Pan, J & Nijmeijer, H 2002, Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle. in Proceedings of the IEEE Conference on Decision and Control. vol. 1, pp. 504-509, 41st IEEE Conference on Decision and Control, Las Vegas, NV, United States, 12/10/02.
Do KD, Jiang Z-P, Pan J, Nijmeijer H. Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle. In Proceedings of the IEEE Conference on Decision and Control. Vol. 1. 2002. p. 504-509
Do, K. D. ; Jiang, Zhong-Ping ; Pan, J. ; Nijmeijer, H. / Global output feedback universal controller for stabilization and tracking of underactuated ODIN-an underwater vehicle. Proceedings of the IEEE Conference on Decision and Control. Vol. 1 2002. pp. 504-509
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