Observer-based controller Design for Remotely Operated Vehicle ROV

Adel Khadhraoui, Lotfi Beji, Samir Otmane, Azgal Abichou

Abstract

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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Paper Citation


in Harvard Style

Khadhraoui A., Beji L., Otmane S. and Abichou A. (2014). Observer-based controller Design for Remotely Operated Vehicle ROV . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 200-207. DOI: 10.5220/0005019102000207


in Bibtex Style

@conference{icinco14,
author={Adel Khadhraoui and Lotfi Beji and Samir Otmane and Azgal Abichou},
title={Observer-based controller Design for Remotely Operated Vehicle ROV},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={200-207},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005019102000207},
isbn={978-989-758-039-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Observer-based controller Design for Remotely Operated Vehicle ROV
SN - 978-989-758-039-0
AU - Khadhraoui A.
AU - Beji L.
AU - Otmane S.
AU - Abichou A.
PY - 2014
SP - 200
EP - 207
DO - 10.5220/0005019102000207