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

K.D. Do, Z.P. Jiang, J. Pan, H. Nijmeijer

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

86 Citaties (Scopus)

Uittreksel

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.
Originele taal-2Engels
Pagina's (van-tot)117-124
TijdschriftAutomatica
Volume40
Nummer van het tijdschrift1
DOI's
StatusGepubliceerd - 2004

Vingerafdruk

Stabilization
Feedback
Controllers
Backstepping
Actuators
Computer simulation

Citeer dit

@article{7caa15fad3044c539aab582a40847a46,
title = "A global output-feedback controller for stabilization and tracking of underactuated ODIN : a spherical underwater vehicle",
abstract = "This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.",
author = "K.D. Do and Z.P. Jiang and J. Pan and H. Nijmeijer",
year = "2004",
doi = "10.1016/j.automatica.2003.08.004",
language = "English",
volume = "40",
pages = "117--124",
journal = "Automatica",
issn = "0005-1098",
publisher = "Agon Elsevier",
number = "1",

}

A global output-feedback controller for stabilization and tracking of underactuated ODIN : a spherical underwater vehicle. / Do, K.D.; Jiang, Z.P.; Pan, J.; Nijmeijer, H.

In: Automatica, Vol. 40, Nr. 1, 2004, blz. 117-124.

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

TY - JOUR

T1 - A global output-feedback controller for stabilization and tracking of underactuated ODIN : a spherical underwater vehicle

AU - Do, K.D.

AU - Jiang, Z.P.

AU - Pan, J.

AU - Nijmeijer, H.

PY - 2004

Y1 - 2004

N2 - This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.

AB - This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.

U2 - 10.1016/j.automatica.2003.08.004

DO - 10.1016/j.automatica.2003.08.004

M3 - Article

VL - 40

SP - 117

EP - 124

JO - Automatica

JF - Automatica

SN - 0005-1098

IS - 1

ER -