This paper presents a method to design an observer-based controller that simultaneously solves global estimation of state and asymptotic stabilization of an underactuated remotely operated vehicle moving in the in three-dimensional. The vehicle does not have a sway and roll actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method for nonlinear system.


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    Titel :

    Observer-based controller design for remotely operated vehicle ROV


    Beteiligte:
    Khadhraoui, Adel (Autor:in) / Beji, Lotfi (Autor:in) / Otmane, Samir (Autor:in) / Abichou, Azgal (Autor:in)


    Erscheinungsdatum :

    2014-09-01


    Format / Umfang :

    371812 byte



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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