Stabilizing control and human scale simulation of a submarine ROV navigation
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- 作者：Adel Khadhraouia ; Adel.Khadhraoui@ibisc.univ-evry.fr" class="auth_mail" title="E-mail the corresponding author ; Lotfi Bejia ; Lotfi.Beji@ibisc.univ-evry.fr" class="auth_mail" title="E-mail the corresponding author ; Samir Otmanea ; Samir.Otmane@ibisc.univ-evry.fr" class="auth_mail" title="E-mail the corresponding author ; Azgal Abichoub ; Azgal.Abichou@ept.rnu.tn" class="auth_mail" title="E-mail the corresponding author
- 关键词：Submarine ROV ; Kino-dynamic model ; Time-varying feedback law ; Averaging approach ; 3D visualization ; Virtual environment
- 刊名：Ocean Engineering
- 出版年：2016
- 出版时间：1 March 2016
- 年：2016
- 卷：114
- 期：Complete
- 页码：66-78
- 全文大小：2163 K
文摘
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We have introduced a complete kino-dynamic model of a ROV.
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Necessary conditions for state feedback are checked.
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Time-varying controller is proposed and analyzed.
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The stabilizing control problem is solved analytically.
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Simulations results from the analytical proposition are integrated in a virtual environment.