Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV)
International audience The stabilizing control problem of a Remotely Operated Vehicle (ROV) for a submarine observing operation is solved explicitly using a homogeneous time-varying controller. We prove that the ROV kino-dynamic model fails the Brockett's necessary condition, consequently, the...
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ftunivevry:oai:HAL:hal-00879020v1 2024-05-19T07:42:42+00:00 Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV) Khadhraoui, Adel Beji, Lotfi Otmane, Samir Abichou, Azgal Informatique, Biologie Intégrative et Systèmes Complexes (IBISC) Université d'Évry-Val-d'Essonne (UEVE) Laboratoire d'Ingénierie Mathématique (LIM) Ecole Polytechnique de Tunisie Université de Carthage (Tunisie) (UCAR)-Université de Carthage (Tunisie) (UCAR) European Project: 262160,EC:FP7:SME,FP7-SME-2010-1,DIGITAL OCEAN(2011) Reykjavík, Iceland 2013-07-29 https://hal.science/hal-00879020 https://hal.science/hal-00879020/document https://hal.science/hal-00879020/file/ICINCO-2013.pdf en eng HAL CCSD info:eu-repo/grantAgreement/EC/FP7/262160/EU/INTEGRATED MULTIMEDIA MIXED REALITY SYSTEM, OF REAL TIME VIRTUAL DIVING, BY WEB TELEOPERATED UNDERWATER DATA COLLECTING ROBOTS, DIFFUSED ONLINE AND THROUGH A NETWORK OF SUBMERSIBLE SIMULATION DEVICES/DIGITAL OCEAN hal-00879020 https://hal.science/hal-00879020 https://hal.science/hal-00879020/document https://hal.science/hal-00879020/file/ICINCO-2013.pdf info:eu-repo/semantics/OpenAccess Proc. of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) https://hal.science/hal-00879020 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013), Jul 2013, Reykjavík, Iceland. pp.26--32 ROV kino-dynamic model time-varying feedback law stabilization [SPI.AUTO]Engineering Sciences [physics]/Automatic info:eu-repo/semantics/conferenceObject Conference papers 2013 ftunivevry 2024-04-28T23:56:03Z International audience The stabilizing control problem of a Remotely Operated Vehicle (ROV) for a submarine observing operation is solved explicitly using a homogeneous time-varying controller. We prove that the ROV kino-dynamic model fails the Brockett's necessary condition, consequently, the system's equilibrium cannot be stabilized using continuous pure state feedback laws. Our control strategy is based on a continuous time-varying feedback law taking into account coupling terms due to underactuation and nonlinearities. It is shown that the feedback law stabilizes the ROV at the origin, and this is illustrated by simulations. Conference Object Iceland Reykjavík Reykjavík Université d'Évry-Val-d'Essonne: HAL |
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Université d'Évry-Val-d'Essonne: HAL |
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ftunivevry |
language |
English |
topic |
ROV kino-dynamic model time-varying feedback law stabilization [SPI.AUTO]Engineering Sciences [physics]/Automatic |
spellingShingle |
ROV kino-dynamic model time-varying feedback law stabilization [SPI.AUTO]Engineering Sciences [physics]/Automatic Khadhraoui, Adel Beji, Lotfi Otmane, Samir Abichou, Azgal Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV) |
topic_facet |
ROV kino-dynamic model time-varying feedback law stabilization [SPI.AUTO]Engineering Sciences [physics]/Automatic |
description |
International audience The stabilizing control problem of a Remotely Operated Vehicle (ROV) for a submarine observing operation is solved explicitly using a homogeneous time-varying controller. We prove that the ROV kino-dynamic model fails the Brockett's necessary condition, consequently, the system's equilibrium cannot be stabilized using continuous pure state feedback laws. Our control strategy is based on a continuous time-varying feedback law taking into account coupling terms due to underactuation and nonlinearities. It is shown that the feedback law stabilizes the ROV at the origin, and this is illustrated by simulations. |
author2 |
Informatique, Biologie Intégrative et Systèmes Complexes (IBISC) Université d'Évry-Val-d'Essonne (UEVE) Laboratoire d'Ingénierie Mathématique (LIM) Ecole Polytechnique de Tunisie Université de Carthage (Tunisie) (UCAR)-Université de Carthage (Tunisie) (UCAR) European Project: 262160,EC:FP7:SME,FP7-SME-2010-1,DIGITAL OCEAN(2011) |
format |
Conference Object |
author |
Khadhraoui, Adel Beji, Lotfi Otmane, Samir Abichou, Azgal |
author_facet |
Khadhraoui, Adel Beji, Lotfi Otmane, Samir Abichou, Azgal |
author_sort |
Khadhraoui, Adel |
title |
Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV) |
title_short |
Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV) |
title_full |
Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV) |
title_fullStr |
Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV) |
title_full_unstemmed |
Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV) |
title_sort |
explicit homogeneous time-varying stabilizing control of a submarine vehicle (rov) |
publisher |
HAL CCSD |
publishDate |
2013 |
url |
https://hal.science/hal-00879020 https://hal.science/hal-00879020/document https://hal.science/hal-00879020/file/ICINCO-2013.pdf |
op_coverage |
Reykjavík, Iceland |
genre |
Iceland Reykjavík Reykjavík |
genre_facet |
Iceland Reykjavík Reykjavík |
op_source |
Proc. of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) https://hal.science/hal-00879020 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013), Jul 2013, Reykjavík, Iceland. pp.26--32 |
op_relation |
info:eu-repo/grantAgreement/EC/FP7/262160/EU/INTEGRATED MULTIMEDIA MIXED REALITY SYSTEM, OF REAL TIME VIRTUAL DIVING, BY WEB TELEOPERATED UNDERWATER DATA COLLECTING ROBOTS, DIFFUSED ONLINE AND THROUGH A NETWORK OF SUBMERSIBLE SIMULATION DEVICES/DIGITAL OCEAN hal-00879020 https://hal.science/hal-00879020 https://hal.science/hal-00879020/document https://hal.science/hal-00879020/file/ICINCO-2013.pdf |
op_rights |
info:eu-repo/semantics/OpenAccess |
_version_ |
1799482391807393792 |