I-AUV Mechatronics Integration for the TRIDENT FP7 Project

Ribas, David; Ridao, Pere; Turetta, Alessio; Melchiorri, Claudio; Palli, Gianluca; Fernández, Julio César Ramos; Sanz, Pedro J.

doi:10.1109/tmech.2015.2395413

Cited by 96 publications

(56 citation statements)

References 20 publications

(13 reference statements)

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“…Then, by employing the differential kinematics as well as (6), we obtain the transformed task space dynamics [22]: 6 and u i that denotes the vector of task space generalized forces/torques. Invoking the kinematic relations (3)-(4), we may express the aforementioned dynamics (7) w.r.t the object's coordinates:…”

Section: A Kinematicsmentioning

confidence: 99%

“…In particular, a vast number of the aforementioned applications, demand the underwater vehicle to be enhanced with intervention capabilities as well [4], thus raising increasing interest on Underwater Vehicle Manipulator System (UVMS). For instance, some recent European projects: TRIDENT [5], [6], PANDORA [7], [8], and the most recent one DexROV [9], have boosted significantly the autonomous underwater interaction tasks.…”

Section: Introductionmentioning

confidence: 99%

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Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication

Heshmati-alamdari

Bechlioulis

Karras

et al. 2018

2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV)

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This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit communication arising from the physical interaction of the robots with the commonly grasped object. We propose a novel distributed leader-follower architecture, where the leading UVMS, which has knowledge of the object's desired trajectory, tries to achieve the desired tracking behavior via an impedance control law, navigating in this way, the overall formation towards the goal configuration while avoiding collisions with the obstacles. On the other hand, the following UVMSs estimate the object's desired trajectory via a novel prescribed performance estimation law and implement a similar impedance control law. The feedback relies on each UVMS's force/torque measurements and no explicit data is exchanged online among the robots. Moreover, the control scheme adopts load sharing among the UVMSs according to their specific payload capabilities. Finally, various simulation studies clarify the proposed method and verify its efficiency.Index Terms-Underwater Vehicle Manipulator System, Cooperative Manipulation, Implicit communication.

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Section: A Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication

Heshmati-alamdari

Bechlioulis

Karras

et al. 2018

2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV)

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show abstract

“…Various concepts for next generation of hovercapable AUVs have been developed to overcome such a limitation [4,5,6,7]. Typically, thrusters are added to the design to provide additional control forces in low-speed operation, as illustrated 1 K.Tanakitkorn@soton.ac.uk 2 Philip.Wilson@soton.ac.uk 3 S.R.Turnock@soton.ac.uk 4 abp@noc.co.uk in figure 1.…”

Section: Introductionmentioning

confidence: 99%

Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

et al. 2017

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A PI-D based control system is developed for over-actuated, hover-capable AUVs which enables a smooth transition from hover-style to flight-style operation. A system stability and convergence is proven using a Lyapunov-based approach. The performance of the controller is demonstrated by simulation but crucially is proven to provide satisfactory performance experimentally. The approach is able to operate over a range of vehicle ballasting configurations, and to imposed external disturbances. The proposed system is computationally inexpensive and does not require a detailed hydrodynamic model to implement. By monitoring the energy consumption on board, the cost of maintaining depth at a range of forward speeds with different buoyancy conditions can be quantified and their impact on cost of transport is highlighted for future optimisation of energy consumption.

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“…Various concepts for next‐generation of hover‐capable AUVs have been developed to overcome such a limitation . Typically, thrusters are added to the design to provide additional control forces for low‐speed operation (see Delphin2 AUV in Figure , for instance).…”

Section: Introductionmentioning

confidence: 99%

Sliding mode heading control of an overactuated, hover‐capable autonomous underwater vehicle with experimental verification

Tanakitkorn

Wilson

Turnock

et al. 2017

Journal of Field Robotics

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A sliding mode heading control system is developed for overactuated, hover‐capable autonomous underwater vehicles (AUVs) operating over a range of forward speeds. A simplified switching function is introduced, and simulation studies are proposed accordingly. The results with this novel switching function show a significant improvement in the chattering problem when compared to other conventional switching function candidates. Studies on sensitivities to a range of hydrodynamic parameter uncertainties are presented, and the parameters that have major influences on the sliding mode control performance are highlighted. The proposed control system is also proven in the field trials to enhance vehicle response, yielding consistent, and robust performance over the entire range of vehicle's speeds, even when subjected to external disturbance. It also shows superior heading tracking performance when compared to a proportional‐derivative (PD) based approach implemented on the same vehicle. However, this improved performance requires intense control actions as a trade‐off, causing the AUV to expend more energy than with the P‐D approach. Path following trials, where the AUV is demanded to follow a set of GPS coordinates at the water surface, are presented. These demonstrate the applicability of the proposed heading control system in a practical operation. The presented SMC scheme can be applied to any vehicle straightforwardly, but the control allocation part may need to be modified regarding the actuator configuration of that vehicle.

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I-AUV Mechatronics Integration for the TRIDENT FP7 Project

Cited by 96 publications

References 20 publications

Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication

Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication

Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

Sliding mode heading control of an overactuated, hover‐capable autonomous underwater vehicle with experimental verification

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