کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8064606 1520676 2016 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Stabilizing control and human scale simulation of a submarine ROV navigation
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
Stabilizing control and human scale simulation of a submarine ROV navigation
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 114, 1 March 2016, Pages 66-78
نویسندگان
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