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Observer-based controller Design for Remotely Operated Vehicle ROV
Adel Khadhraoui
1
, Lotfi Beji
1
, Samir Otmane
1
and Azgal Abichou
2
1
University of Evry, IBISC Laboratory, EA 4526, 40 rue du Pelvoux, 91020 Evry, France
2
Polytechnic School of Tunisia, LIM Laboratory, BP743, 2078 La Marsa, Tunisia
Keywords:
Observer, Controller, Estimation, Lyapunov theory, Stabilization, ROV.
Abstract:
This paper presents a method to design an observer-based controller that simultaneously solves global esti-
mation 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 orienta-
tion measurements available. The control development is based on Lyapunov’s direct method for nonlinear
system.
1 INTRODUCTION
In many works on the control of dynamical systems,
the state vector is assumed to be measured. However,
on a practical level, this assumption is not always
true. Indeed, for technical or economical reasons, it
is difficult or impossible to measure all the state vari-
ables of the system. Hence, the need to fully know
the state variables of the system is often a necessity
in the phases of modeling and identification, diagno-
sis and control systems. All these problems require
knowledge of the state vector, not accessible to mea-
surement data, which makes the design of an observer
a primordial task in control theory.
The problem of observation has been studied by
a number of researchers these last years The linear
case has been solved by Kalman and Luenberger, but
the nonlinear case is still an active domain of re-
search. The high-gain observer approach which is
closely related to triangular structure has been devel-
oped by (Gauthier et al., 1992),(Gauthier and Kupka,
1994) and is derived from the uniform observabil-
ity of nonlinear systems. Other methods have been
developed: Kazantzis and Karavaris (Kazantzis and
Kravaris, 1997), the backstepping observer which
uses the Lyapunov auxiliary theorem and a direct co-
ordinate transformation in design in (Li and Qian,
2006) and (Arcak, 2002). Switching or multi-model
observers based on Linear Matrix Inequality tech-
niques are used for the observation of LPV, quasi-
LPV or Takagi-Sugeno fuzzy systems (Takagi and
Sugenou, 1985), (Dounia et al., 2012), (Chang and
Chen, 2013). The adaptive observer was proposed in
(Pourgholi and Majd, 2012), parameter and state es-
timation problem in the presence of the perturbation.
In (F. Rezazadegan and Chatraei, 2013), an adapta-
tive control law for 6 DOF model is drived for the tra-
jectory tracking problem of underactuated underwater
vehicle in the presence of parametric uncertainty. The
famous Kalman filter algorithm, which assumes white
and Gaussian disturbances and noises has been suc-
cessfully applied to the estimation of state variables
of nonlinear system in numerous engineering appli-
cations. Applications such as State and parameter
estimation of aircraft and Unmanned Aerial Vehicles
(UAV’s) (Langelaan, 2006), (Rigatos, 2012), are all
examples of aerospace applications for the Kalman
filter. In (Berghuis and Nijmeijer, 1993) the authors
propose a nonlinear observer-based controller strat-
egy for robot manipulators based on passivity theory.
The controller and observer are designed to use the
structure of each other and semi-global exponential
stability of the observer error and controller error dy-
namics are proven. In (Shen et al., 2011), (Li et al.,
2011), (Li et al., 2013), the problem of finite-time
observers has been considered and global finite-time
observer are designed for nonlinear system which
are uniformly observable and globally Lipschitz. In
(Fridman et al., 2008), a higher-order sliding-mode
observer is proposed to estimate exactly the observ-
able states and asymptotically the unobservable ones
in multi-input-multi-outputnonlinear system with un-
known inputs and stable internal dynamics. In this
paper, we propose to control Remotely Operated Ve-
hicles (ROV’s) for exploration in sub-sea historical
sites. The main contribution in this paper is to design
200
Khadhraoui A., Beji L., Otmane S. and Abichou A..
Observer-based controller Design for Remotely Operated Vehicle ROV.
DOI: 10.5220/0005019102000207
In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO-2014), pages 200-207
ISBN: 978-989-758-039-0
Copyright
c
2014 SCITEPRESS (Science and Technology Publications, Lda.)