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Conference papers

Observer-based controller design for remotely operated vehicle ROV

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.
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Conference papers
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Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Friday, November 28, 2014 - 11:39:19 AM
Last modification on : Tuesday, June 30, 2020 - 11:56:07 AM


  • HAL Id : hal-01088606, version 1


Adel Khadhraoui, Lotfi Beji, Samir Otmane, Azgal Abichou. Observer-based controller design for remotely operated vehicle ROV. 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), Sep 2014, Vienna, Austria. pp.200--207. ⟨hal-01088606⟩



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