A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle.
type: Item
instance of: scholarly article
title: A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle.
zbMATH Open document ID: 1051.93072
author: H. Nijmeijer
author: Khac Duc Do
author: Zhong-Ping Jiang
author: Jie Pan
published in: Automatica
publication date: 2004-03-14T00:00:00Z
review text: 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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B51
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 93D15
zbMATH DE Number: 2056666
zbMATH Keywords: spherical underwater vehicle
zbMATH Keywords: simultaneous tracking and stabilization
zbMATH Keywords: global asymptotic stabilization
zbMATH Keywords: Lyapunov stability
zbMATH Keywords: nonlinear control
zbMATH Keywords: output feedback
reviewed by: Yuri N. Sankin
MaRDI profile type: Publication
full work available at URL: j.automatica.2003.08.004
OpenAlex ID: W2155273341
cites work: Global output tracking control of a class of Euler-Lagrange systems with monotonic non-linearities in the velocities
cites work: Rigid body attitude tracking without angular velocity feedback
cites work: Dynamical systems VII. Integrable systems. Nonholonomic dynamical systems. Transl. from the Russian by A.G. Reyman and M.A. Semenov-Tian- Shansky
cites work: Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics
cites work: Q3309568
cites work: Underactuated ship global tracking under relaxed conditions
cites work: Global tracking control of underactuated ships by Lyapunov's direct method
cites work: Tracking control of mobile robots: A case study in backstepping
cites work: Adaptive nonlinear control without overparametrization
cites work: New directions in nonlinear observer design. International workshop, Geiranger Fjord, Norway, June 24--26, 1999
cites work: Underactuated ship tracking control: Theory and experiments
cites work: Exponential stabilization of an underactuated autonomous surface vessel
cites work: Exponential stabilization of nonholonomic chained systems
DOI: 10.1016/J.AUTOMATICA.2003.08.004
description: scientific article; zbMATH DE number 2056666