A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

被引:95
作者
Do, KD [1 ]
Jiang, ZP
Pan, J
Nijmeijer, H
机构
[1] Univ Western Australia, Sch Mech Engn, Nedlands, WA 6009, Australia
[2] Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands
基金
美国国家科学基金会; 澳大利亚研究理事会;
关键词
simultaneous tracking and stabilization; output-feedback; ODIN; nonlinear control;
D O I
10.1016/j.automatica.2003.08.004
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator-a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results. (C) 2003 Elsevier Ltd. All rights reserved.
引用
收藏
页码:117 / 124
页数:8
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