Design of an indirect adaptive controller for the trajectory tracking of UVMS

Dai, Yong; Yu, Shuanghe

doi:10.1016/j.oceaneng.2017.12.070

Cited by 47 publications

(34 citation statements)

References 37 publications

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“…Santhakumar and Kim [23] presented an indirect adaptive control method for the UVMS based on an extended Kalman filter (EKF); however the performance of this method is highly dependent on the performance of estimation, and the performance can be significantly degraded when the estimation has large errors. Dai and Yu [24] proposed an indirect adaptive control method for the UVMS based on an EKF and a H ∞ controller; however its control performance depends on the prior knowledge of the worst case disturbance assumption.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Fuzzy Decoupling Control of an Underwater Vehicle-Manipulator System

Han

Wei

et al. 2020

IEEE Access

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This paper presents the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle (AUV) and a manipulator. The modeling processes are described with the incorporation of the most dominating hydrodynamic effects such as added mass, lift and drag forces. The hydrodynamic coefficients are derived using strip theory and are adjusted according to dynamical similarity. A fuzzy decoupling controller (FDC) is proposed for an autonomous underwater vehicle-manipulator system (UVMS) which consists of two subsystems, an underwater vehicle and a manipulator. The proposed controller uses a fuzzy algorithm (FA) to adaptively tune the gain matrix of the error function (EF). The EF is described by the integral sliding surface function. This technique allows the off-diagonal elements developed for decoupling the system to be incorporated in the gain matrix. Tracing the FA and EF back to the principle of feedback linearization, one further obtains evidence about the decoupling and stability of the system. Moreover, a desired trajectory with the consideration of the dynamic coupling of the AUV is designed to reduce the thruster forces and manipulator's torques. This technique provides high performance in terms of tracking error norms and expended energy norms. A major contribution of this study is that it adopts the off-diagonal elements to exploit the dynamic coupling between the degrees of freedom of the subsystem and the dynamic coupling between the two subsystems. Simulation results demonstrate the effectiveness and robustness of the proposed technique in the presence of parameter uncertainties and external disturbances. INDEX TERMS AUV, dynamic coupling, decoupling control, fuzzy algorithm, hydrodynamic effect, underwater manipulator.

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Section: Introductionmentioning

confidence: 99%

Modeling and Fuzzy Decoupling Control of an Underwater Vehicle-Manipulator System

Han

Wei

et al. 2020

IEEE Access

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“…As presented in [27–29], it is applied to estimate the missing but required states for non‐linear robotic plants. An EKF is applied based on noisy measurements of the position to obtain estimates of the angular coordinate and the disturbance in [30], and in [31] an EKF estimation compensative system is employed to non‐fully resist the measuring errors, payloads variations, unmodelled dynamics and underwater environment disturbances for an underwater vehicle and manipulator system. Note that in [32], a conventional EKF is introduced into the singular perturbation model of the flexible‐joint robotic system to observe unknown states, but it does not mention the bounded control problem.…”

Section: Introductionmentioning

confidence: 99%

Bounded decoupling control for flexible‐joint robot manipulators with state estimation

Cheng

Liu

2020

IET Control Theory & Appl

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“…In order to complete various complex tasks, high-precision trajectory tracking controller is then demanded. However, UVMS is strongly coupled and with high nonlinearity [ 1 ]. When the manipulator is working, it will disturb the vehicle and even cause interference to the entire system [ 2 ].…”

Section: Introductionmentioning

confidence: 99%

Research on Sliding Mode Control of Underwater Vehicle-Manipulator System Based on an Exponential Approach Law

Tang

Deng

et al. 2020

Lecture Notes in Computer Science

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To improve the performance of underwater vehicle-manipulator system (UVMS), which is subject to system uncertainties and time-varying external disturbances in trajectory tracking control, a sliding mode controller is proposed in this paper. Firstly, in order to reduce a influence of system uncertainties and external disturbances, a sliding mode controller is designed based on an exponential approach law. Then the error asymptotic convergence of the trajectory tracking control is proven by the Lyapunov-like function. Finally, the effectiveness of the sliding mode controller is verified by rich simulation. Results show that the designed controller can not only realize the coordination control of UVMS accurately, but also can eliminate the chattering of control signal.

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Design of an indirect adaptive controller for the trajectory tracking of UVMS

Cited by 47 publications

References 37 publications

Modeling and Fuzzy Decoupling Control of an Underwater Vehicle-Manipulator System

Modeling and Fuzzy Decoupling Control of an Underwater Vehicle-Manipulator System

Bounded decoupling control for flexible‐joint robot manipulators with state estimation

Research on Sliding Mode Control of Underwater Vehicle-Manipulator System Based on an Exponential Approach Law

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