A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle.
Khac Duc DoZhong-Ping JiangJie PanHenk NijmeijerPublished in: Autom. (2004)
Keyphrases
- feedback controller
- closed loop
- underwater vehicles
- feedback control
- open loop
- control scheme
- control law
- controller design
- motion planning
- real time
- fuzzy systems
- control system
- optimal control
- adaptive control
- degrees of freedom
- asymptotic stability
- computer simulation
- control algorithm
- feed forward
- nonlinear systems
- mathematical models
- dynamic model
- image sequences
- artificial intelligence