In this paper we present a six-DOF output-feedback control system for high-speed maneuvering of an underwater vehicle with position and angle measurements only. The observer is designed and analyzed using a passivity-based control method. The main idea of this strategy, which has been commonly applied in electronics and robot applications, is to construct the closed loop system according to a desired energy function, and in addition add damping to assure asymptotic stability. Furthermore, by using backstepping technique in the controller design, simple solutions to the output-feedback control problem has been shown to exist. The case study is the Minesniper MkII, a low cost, torpedo shaped ROV developed by Kongsberg ASA. Simulations show that the control system is robust to external disturbances and measurement noise and provides satisfactory tracking results.


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    Title :

    Design of output-feedback control system for high speed maneuvering of an underwater vehicle


    Contributors:

    Published in:

    Publication date :

    2005


    Size :

    8 Seiten, 15 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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