A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

Abstract

This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC) approach for a team of UVMSs in order to transport an object while avoiding significant constraints and limitations such as: kinematic and representation singularities, obstacles within the workspace, joint limits and control input saturations. More precisely, by exploiting the coupled dynamics between the robots and the object, and using certain load sharing coefficients, we design a distributed NMPC for each UVMS in order to cooperatively transport the object within the workspace's feasible region. Moreover, the control scheme adopts load sharing among the UVMSs according to their specific payload capabilities. Additionally, the feedback relies on each UVMS's locally measurements and no explicit data is exchanged online among the robots, thus reducing the required communication bandwidth. Finally, real-time simulation results conducted in UwSim dynamic simulator running in ROS environment verify the efficiency of the theoretical finding.

Autonomous Underwater Vehicles: Localization, Navigation, and Communication for Collaborative Missions

“…Results on bar position and applied forces on end effectors provided promising results on its possible real applications. Heshmati-alamdari et al [148] worked on a similar system. Nonlinear model predictive control approach was proposed for a team of AUVs transporting an object.…”

A Predictive Control Approach for Cooperative Transportation by Multiple Underwater Vehicle Manipulator Systems

“…The rest of the paper is organized as follows: In Section-II, the mathematical modeling along with the verbal description of the problem statement are presented. An analytical descrip- 1 A preliminary version of this work, in the absence of a detailed analysis of the methodology, including detailed geometric modeling of the system as well as of the coupled dynamics, detailed controller design, description of real time implementation and a enriched set of experimental results using two small UVMSs was reported in [20].…”

Cooperative Control of Underwater Vehicle–Manipulator Systems Based on the SDC Method

“…Similar methods using neural networks and fuzzy logic are presented in [24][25][26]. For underwater robots, the technique of control synthesis using a nonlinear behavior prediction model is also acceptable [27].…”