A control framework for biologically inspired underwater swimming manipulators equipped with thrusters**This research was partly funded by the Research Council of Norway through the Centres of Excellence funding scheme, project No. 223254 NTNU AMOS, and partly funded by VISTA, a basic research program in collaboration between The Norwegian Academy of Science and Letters, and Statoil.

Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Y.; Gravdahl, Jan Tommy

doi:10.1016/j.ifacol.2016.10.326

Cited by 14 publications

References 25 publications

(26 reference statements)

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Trajectory Tracking for Underwater Swimming Manipulators using a Super Twisting Algorithm

Borlaug

Gravdahl

Sverdrup-Thygeson

et al. 2018

Asian Journal of Control

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The underwater swimming manipulator (USM) is a snake-like, multi-articulated, underwater robot that is equipped with thrusters. One of the main purposes of the USM is to act like an underwater floating base manipulator. As such, it is essential to achieve good station-keeping and trajectory tracking performance for the USM by using the thrusters and by using the joints to attain the desired position and orientation of the head and tail of the USM. In this 'paper, we propose a sliding mode control (SMC) law, specifically the super-twisting algorithm with adaptive gains, for the trajectory tracking of the USM's centre of mass. A higher-order sliding mode observer is proposed for state estimation. Furthermore, we show the ultimate boundedness of the tracking errors. We demonstrate the applicability of the proposed control law and show that it leads to better performance than a linear PD-controller.

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Trajectory Tracking for Underwater Swimming Manipulators using a Super Twisting Algorithm

Borlaug

Gravdahl

Sverdrup-Thygeson

et al. 2018

Asian Journal of Control

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Modeling of Underwater Snake Robots

Kelasidi¹,

Pettersen²

2018

Encyclopedia of Robotics

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Abstract-Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper presents a model of the kinematics and dynamics of a planar, underwater snake robot aimed at control design. Fluid contact forces and torques are modeled using analytical fluid dynamics. The model is derived in a closed form and can be utilized in modern model-based control schemes. The proposed model is easily implemented and simulated, regardless of the number of robot links. Simulation results with a ten link robotic system are presented.

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Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin

Kelasidi¹,

Kohl²,

Pettersen³

et al. 2018

Annual Reviews in Control

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Over the last few decades, the robotics community has shown increasing interest in developing bioinspired swimming robots, driven by the need for more economical, more efficient, autonomous, highly flexible and maneuverable robotic systems for underwater operations. In this paper, we present a bioinspired underwater snake robot (USR) equipped with a passive caudal (tail) fin. In particular, a highly flexible USR configuration is presented that is capable of locomotion both on the ground and underwater due to its robust mechanical and modular design, which allows additional effectors to be attached to different modules of the robot depending on the requirements of the application. This provides flexibility to the operator, who can thus choose the proper configuration depending on the task to be performed in various uncertain environments on the ground and underwater. Experimental results on locomotion efficiency and pathfollowing control are obtained for a physical USR to enable a comparison of the USR motion with and without the passive caudal fin, for both lateral undulation and eellike motion patterns. Results comparing the locomotion efficiency in both simulations and experiments are presented in order to validate the proposed models for USRs. By means of fluid parameter identification, both a qualitative and a quantitative comparison between the simulated and experimental results are performed regarding the achieved forward velocity. Furthermore, the experimental results show that a path-following control approach that has previously been proposed for USRs without a caudal fin can be directly applied to solve the path-following control problem for this bioinspired USR with a passive caudal fin. In particular, it is shown that this path-following control approach successfully steers the robot toward and along the desired path, and furthermore, the results show that it is possible to almost double the forward velocity of the robot by using a passive caudal fin.

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Cited by 14 publications

References 25 publications

Trajectory Tracking for Underwater Swimming Manipulators using a Super Twisting Algorithm

Trajectory Tracking for Underwater Swimming Manipulators using a Super Twisting Algorithm

Modeling of Underwater Snake Robots

Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin

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