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Journal Articles Ocean Engineering Year : 2016

Stabilizing control and human scale simulation of a submarine ROV navigation

Abstract

This paper addresses the stabilizing control problem of a Remotely Operated Vehicle (ROV) expected for observation tasks in depth sea and marine archeology sites inspections. A stabilizing image must be ensured throughout the ROV's motion. From the kino-dynamic model we prove that the ROV fails Brockett's necessary condition. Consequently, the equilibrium cannot be stabilized using continuous pure state feedback laws. As an alternative, a continuous time-varying feedback law is proposed. In addition to basic simulation results, a human-scale visualization integrating a 3D aquatic pool environment and the ROV's 3D CAD model is introduced. The stability results imply the effectiveness of the proposed stabilizing control law.
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Dates and versions

hal-01312758 , version 1 (09-05-2016)

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Adel Khadhraoui, Lotfi Beji, Samir Otmane, Azgal Abichou. Stabilizing control and human scale simulation of a submarine ROV navigation. Ocean Engineering, 2016, 114 (1), pp.66--78. ⟨10.1016/j.oceaneng.2015.12.054⟩. ⟨hal-01312758⟩
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