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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    Title :

    Observer-based controller design for remotely operated vehicle ROV


    Contributors:


    Publication date :

    2014-09-01


    Size :

    371812 byte



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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