Authors:
Adel Khadhraoui
1
;
Lotfi Beji
1
;
Samir Otmane
1
and
Azgal Abichou
2
Affiliations:
1
University of Evry, France
;
2
Polytechnic School of Tunisia, Tunisia
Keyword(s):
Observer, Controller, Estimation, Lyapunov theory, Stabilization, ROV.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Signal Reconstruction
;
Space and Underwater Robotics
;
Systems Modeling and Simulation
;
Vehicle Control Applications
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.