Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV)

Adel Khadhraoui (1) , Lotfi Beji (1) , Samir Otmane (1) , Azgal Abichou (2)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 LIM - Laboratoire d'Ingénierie Mathématique

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.

Mots clés: ROV; kino-dynamic model; time-varying feedback law; stabilization

Domaines: Automatique / Robotique

Adel Khadhraoui, Lotfi Beji, Samir Otmane, Azgal Abichou. Explicit homogeneous time-varying stabilizing control of a submarine vehicle (ROV). 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013), Jul 2013, Reykjavík, Iceland. pp.26--32. ⟨hal-00879020⟩