Observer-based controller design for remotely operated vehicle ROV

Adel Khadhraoui 1 Lotfi Beji 1 Samir Otmane 1 Azgal Abichou 2
1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 LIM - Laboratoire d'Ingénierie Mathématique
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.
Keywords : Controller Estimation Lyapunov theory Observer ROV Stabilization
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01088606
Contributor : Frédéric Davesne <>
Submitted on : Friday, November 28, 2014 - 11:39:19 AM
Last modification on : Monday, October 28, 2019 - 10:50:21 AM

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  • HAL Id : hal-01088606, version 1

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IBISC | IBISC-IRA2 | IBISC-SIBI | UNIV-EVRY | TDS-MACS

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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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