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Authors: Adel Khadhraoui 1 ; Lotfi Beji 1 ; Samir Otmane 1 and Azgal Abichou 2

Affiliations: 1 University of Evry, France ; 2 Polytechnic School of Tunisia, Tunisia

ISBN: 978-989-758-039-0

Keyword(s): Observer, Controller, Estimation, Lyapunov theory, Stabilization, ROV.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Signal Reconstruction ; Space and Underwater Robotics ; Systems Modeling and Simulation ; Vehicle Control Applications

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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Paper citation in several formats:
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

@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},
}

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

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