Stabilizing control and human scale simulation of a submarine ROV navigation

Abstract 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.

[1]  M. J. Grimble,et al.  A robust ROV positioning controller , 1994 .

[2]  Qingping Lin,et al.  Virtual tele-operation of underwater robots , 1997, Proceedings of International Conference on Robotics and Automation.

[3]  Antonio Pedro Aguiar,et al.  Nonlinear adaptive control of an underwater towed vehicle , 2010 .

[4]  Paul Richard,et al.  Human Performance in Cooperative Virtual Environments: the Effect of Visual Aids and Oral Communication , 2009, Int. J. Virtual Real..

[5]  R. Murray,et al.  Nonholonomic systems and exponential convergence: some analysis tools , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[6]  Joao P. Hespanha,et al.  Position tracking for a nonlinear underactuated hovercraft: controller design and experimental results , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[7]  Jean-Michel Coron,et al.  Global asymptotic stabilization for controllable systems without drift , 1992, Math. Control. Signals Syst..

[8]  Samir Otmane,et al.  Human-Robot-Interfaces based on Mixed Reality for Underwater Robot Teleoperation , 2012 .

[9]  Khac Duc Do,et al.  Control of Ships and Underwater Vehicles: Design for Underactuated and Nonlinear Marine Systems , 2009 .

[10]  H. Nijmeijer,et al.  Underactuated ship tracking control: Theory and experiments , 2001 .

[11]  Dennis S. Bernstein,et al.  Geometric homogeneity with applications to finite-time stability , 2005, Math. Control. Signals Syst..

[12]  J. Folcher,et al.  Identification and control of the Phantom 500 body motion , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[13]  Yoshihiko Nakamura,et al.  Nonlinear tracking control of autonomous underwater vehicles , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[14]  Wan Kyun Chung,et al.  Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments , 2011 .

[15]  Pierre Boudoin,et al.  Towards multimodal human-robot interaction in large scale virtual environment , 2008, 2008 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[16]  S. Otmane,et al.  Utilization of Human Scale SPIDAR-G in the framework of Assistance to 3D interaction in a semi-immersive AR/VR platform. , 2009 .

[17]  Jean-Baptiste Pomet,et al.  Time-varying exponential stabilization of nonholonomic systems in power form , 1994 .

[18]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[19]  Samir Otmane,et al.  Poster: A new device for virtual or augmented underwater diving , 2012, 2012 IEEE Symposium on 3D User Interfaces (3DUI).

[20]  Junku Yuh,et al.  A neural net controller for underwater robotic vehicles , 1990 .

[21]  M. Santhakumar,et al.  Power efficient dynamic station keeping control of a flat-fish type autonomous underwater vehicle through design modifications of thruster configuration , 2013 .

[22]  Feng Shun-shan,et al.  Mathematical Simulation on Self-tuning Fuzzy Controller for Small Cylindrical Object Navigating near Free-surface , 2011 .

[23]  Junku Yuh,et al.  Self-adaptive neuro-fuzzy control with fuzzy basis function network for autonomous underwater vehicles , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[24]  R. Murray,et al.  Exponential stabilization of driftless nonlinear control systems using homogeneous feedback , 1997, IEEE Trans. Autom. Control..

[25]  Lionel Lapierre,et al.  Nonlinear Path Following Control of an AUV , 2007 .

[26]  C. Samson,et al.  Time-varying exponential stabilization of a rigid spacecraft with two control torques , 1997, IEEE Trans. Autom. Control..

[27]  Samir Otmane,et al.  Explicit Homogeneous Time-varying Stabilizing Control of a Submarine Vehicle (ROV) , 2013, ICINCO.

[28]  R. W. Brockett,et al.  Asymptotic stability and feedback stabilization , 1982 .

[29]  Dana R. Yoerger,et al.  Adaptive sliding control of an experimental underwater vehicle , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[30]  Przemyslaw Herman.  Modified set-point controller for underwater vehicles , 2010, Math. Comput. Simul..

[31]  Mukund Narasimhan,et al.  Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins , 2006 .