A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle. (Q1426273)

Stabilization and tracking control of underactuated autonomous underwater vehicles are challenging problems because the vehicles possess more degrees of freedom than controls. The authors propose a method to design a single controller that forces an omni-directional intelligent navigator without a sway actuator and having three planes of symmetry. This navigator simultaneously solves global asymptotic stabilization and tracking such that the underwater vehicle moves in a horizontal plane with only position and orientations measurements. The problem is solved by means of the Lyapunov direct method. Numerical simulations are verified for the developed methodology.