Robust control of remotely operated vehicle in the vertical plane - Informatique, Biologie Intégrative et Systèmes Complexes Accéder directement au contenu
Communication Dans Un Congrès Année : 2014

Robust control of remotely operated vehicle in the vertical plane

Résumé

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.
Fichier principal
Vignette du fichier
PID3383543.pdf (452.35 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01100531 , version 1 (06-01-2015)

Identifiants

Citer

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⟩
139 Consultations
294 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More