Observer-based controller Design for Remotely Operated Vehicle ROV

Adel Khadhraoui, Lotfi Beji, Samir Otmane, Azgal Abichou

2014

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.

Paper Citation

in Harvard Style

Khadhraoui A., Beji L., Otmane S. and Abichou A. (2014). Observer-based controller Design for Remotely Operated Vehicle ROV . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 200-207. DOI: 10.5220/0005019102000207

in Bibtex Style

@conference{icinco14,
author={Adel Khadhraoui and Lotfi Beji and Samir Otmane and Azgal Abichou},
title={Observer-based controller Design for Remotely Operated Vehicle ROV},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={200-207},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005019102000207},
isbn={978-989-758-039-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Observer-based controller Design for Remotely Operated Vehicle ROV
SN - 978-989-758-039-0
AU - Khadhraoui A.
AU - Beji L.
AU - Otmane S.
AU - Abichou A.
PY - 2014
SP - 200
EP - 207
DO - 10.5220/0005019102000207