Combined kinematic and dynamic control of an underwater swimming manipulator

Borlaug, Ida-Louise Garmann; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Y.; Gravdahl, Jan Tommy

doi:10.1016/j.ifacol.2019.12.275

Cited by 7 publications

(7 citation statements)

References 6 publications

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“…The control laws presented in ( 28)-( 30) are feedback-linearizing controllers. If the model ( 7) suffers from high model uncertainty, other control design approaches such as sliding mode control [31], [32], [33], [34] or adaptive control designs which address model uncertainty [35], [36] should be considered.…”

Section: Surge Sway and Yaw Controlmentioning

confidence: 99%

Autonomous ROV Inspections of Aquaculture Net Pens Using DVL

Amundsen¹,

Caharija²,

Pettersen³

2021

IEEE J. Oceanic Eng.

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This paper presents a method for guiding a remotely operated vehicle (ROV) to autonomously traverse an aquaculture net pen. The method is based on measurements from a Doppler velocity log (DVL) and uses the measured length of the DVL beam vectors to approximate the geometry of a local region of the net pen in front of the ROV. The ROV position and orientation relative to this net pen approximation are used as inputs to a nonlinear guidance law. The guidance law is based upon the line-of-sight (LOS) guidance law. By utilizing that an ROV is fully-actuated in the horizontal plane, the crosstrack error is minimized independently of the ROV heading. A Lyapunov analysis of the closed-loop system with this guidance law shows that the ROV is able to follow a continuous path in the presence of a constant irrotational ocean current. Finally, results from simulations and experiments demonstrating the performance of the net pen approximation and control system are presented.

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Section: Surge Sway and Yaw Controlmentioning

confidence: 99%

Autonomous ROV Inspections of Aquaculture Net Pens Using DVL

Amundsen¹,

Caharija²,

Pettersen³

2021

IEEE J. Oceanic Eng.

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“…is such that the closed-loop system (1), (11), (12) is (locally) asymptotically stable. The optimal input and worst case disturbance given by (12) are the Nash equilibrium strategies of a modified differential game with modified cost functionalsJ 1 (u, w) ≤ J 1 (u, w) andJ 2 (u, w) ≥ J 2 (u, w) (see [16], [17] for details).…”

Section: A Solution For a General Nonlinear Systemmentioning

confidence: 99%

“…Then using the alge-braicP matrix solutions for the double integrator dynamics from Sec. II-C, Theorem 1 states that the system (45) is asymptotically stable if u, w are the optimal input and worstcase disturbance, respectively, as given by (12) with dynamic extension ξ as given by (11) and V 1 , V 2 as in (9).…”

Section: Performance Variablesmentioning

confidence: 99%

“…Robustness of such approaches against modelling errors is examined in [10] for the case of redundancy resolution at the dynamic level, and errors are found to only affect the transient behaviour of the system. In the case of redundancy resolution at the kinematic level, robustness can be achieved by pairing it with a robust dynamic controller, such as in [11]. Neither of the works [10], [11] consider activation and deactivation of tasks, which is necessary for implementing tasks such as collision avoidance.…”

Section: Introductionmentioning

confidence: 99%

“…In the case of redundancy resolution at the kinematic level, robustness can be achieved by pairing it with a robust dynamic controller, such as in [11]. Neither of the works [10], [11] consider activation and deactivation of tasks, which is necessary for implementing tasks such as collision avoidance.…”

Section: Introductionmentioning

confidence: 99%

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Collision Avoidance using Mixed H₂/H_∞ Control for an Articulated Intervention-AUV

Wrzos-Kaminska

Mylvaganam

Pettersen

et al. 2020

2020 European Control Conference (ECC)

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In this paper we consider the problem of mixed H2/H∞ control to combine optimal and robust control for a double integrator system with nonlinear performance variables, and we apply this to control an articulated intervention autonomous underwater vehicle (AIAUV). The AIAUV has an articulated body like a snake robot, is equipped with thrusters, and can be used as a free-floating underwater manipulator. The objective is to control the joints of the AIAUV to desired setpoints without causing collisions between links or with obstacles in the environment. The mixed H2/H∞ problem is viewed as a differential game, and a set of matrix equations is solved in order to construct an approximate solution to the problem for a system described by double integrator dynamics and with nonlinear performance variables. A feedback linearising controller is derived to obtain the double integrator dynamics for the joints of the AIAUV, and the solution found for the mixed H2/H∞ control problem is applied to the resulting system. Simulations demonstrate that collisions between links of the manipulator are successfully avoided also in the presence of parameter uncertainties while regulating the joints to the desired setpoints, and the method can easily be extended to include collision avoidance with static and dynamic obstacles in the environment.

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