Stabilizing control and human scale simulation of a submarine ROV navigation

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.