Robust control of remotely operated vehicle in the vertical plane

Abstract : This paper addresses the problem of stabilizing and trajectory tracking control of a remotely operated vehicle (ROV-Observer) in the vertical plane. The underwater vehicle is not actuated in the pitch direction and cannot be locally asymptotically stabilized by continuous feedbacks which are functions of the state only. In the present note, exponential convergence is obtained by considering time-varying feedbacks which are only continuous. Furthermore, using the backstepping technique and the tracking error dynamics, the system states are stabilized by forcing the tracking errors to an arbitrarily small neighborhood of zero.
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Adel Khadhraoui, Lotfi Beji, Samir Otmane, Azgal Abichou. Robust control of remotely operated vehicle in the vertical plane. 13th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014), Dec 2014, Marina Bay Sands, Singapore. pp.1098--1105, ⟨10.1109/ICARCV.2014.7064459⟩. ⟨hal-01100531⟩

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