Stabilizing control and human scale simulation of a submarine ROV navigation

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

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.

Mots clés: 3D visualization; Averaging approach; Kino-dynamic model; Submarine ROV; Time-varying feedback law; Virtual environment

Domaines: Automatique / Robotique

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⟩