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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Bibliographic Details
Main Authors: Khadhraoui, Adel, Beji, Lotfi, Otmane, Samir, Abichou, Azgal
Other Authors: 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 - University of Carthage-Université de Carthage - University of Carthage, European Project: 262160,EC:FP7:SME,FP7-SME-2010-1,DIGITAL OCEAN(2011)
Format: Conference Object
Language:English
Published: HAL CCSD 2013
Subjects:
ROV
kino-dynamic model
time-varying feedback law
stabilization
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Reykjavík
Iceland
Online Access:https://hal.archives-ouvertes.fr/hal-00879020
https://hal.archives-ouvertes.fr/hal-00879020/document
https://hal.archives-ouvertes.fr/hal-00879020/file/ICINCO-2013.pdf
Description
Summary: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.

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