Modélisation et simulation interactive pour la navigation d'un robot sous-marin de type ROV Observer

Abstract : Today cross oceans can be done easily. However, it is not the same case for the seabed exploration. As this hostile and dangerous environment can be biologically rich and has exploitable resources, the man needs help in his discovery of the depths. Therefore, the intervention of underwater robots was a solution. In this context, the present manuscript deals with modeling and control of a ROV (Remotely Operated Vehicle). After identifying the different variables characterizing the fixed geometry, we study, at first, kinematics and dynamic modeling of the ROV. It is important to note that sets of inertia parameters of added mass and streaks coefficients is identified by means of the geometrical characteristics of the robot. A full nonlinear dynamic model of the submarine has been established. The second part of the thesis deals with the stabilization problem of the ROV’s model. We offer an explicit unsteady dependent control of both the state and time. A robust study of the control relative to external interference checking certain degree of homogeneity has been established. The autonomy of Rov also requires control movement along a reference path. We treated in the third part the Rov’s stability problem to ensure the tracking of a reference trajectory. These results are operated on a virtual platform, and implemented on the dedicated Virtools software for this application. To lighten the structure in terms of sensors and because of the high prices of various sensors, it is necessary to design a system called auxiliary observer who charge rebuild unmeasurable states using available information. A nonlinear observer has been proposed to the estimation of linear and non-measurable angular velocity, which will be considered as virtual sensors. These sensors will be implemented on the platform that will be used to animate the ROV in its virtual world.
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  • HAL Id : tel-01412994, version 1

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Adel Khadhraoui. Modélisation et simulation interactive pour la navigation d'un robot sous-marin de type ROV Observer. Automatique / Robotique. Université Paris Saclay, 2015. Français. ⟨NNT : 2015SACLE014⟩. ⟨tel-01412994⟩

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