Research Progress of Underwater Vehicle-manipulator Systems: Configuration, Modeling and Control

常宗瑜,; 张扬,; 郑方圆,; 郑中强,; 王吉亮,

doi:10.3901/jme.2020.19.053

Cited by 8 publications

(2 citation statements)

References 138 publications

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“…where e = x − x re f , x re f -is the desired value of the system state vector (14), which is determined by the desired value of the generalized coordinates.…”

Section: Synthesis Of An Sddre Tracking Controllermentioning

confidence: 99%

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

Kabanov

Kramar

Lipko

et al. 2022

Sensors

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The paper considers the problem of cooperative control synthesis for a complex of underwater vehicle–manipulator systems (UVMS) to perform the work of moving a cargo along a given trajectory. Here, we used the approach based on the representation of nonlinear dynamics models in the form of state space with state-dependent coefficients (SDC-form). That allowed us to apply methods of suboptimal control with feedback based on the state-dependent differential Riccati equation (SDDRE) solution at a finite time interval, providing the change in control intensity with the transient effect of the system matrices in SDC form. The paper reveals two approaches to system implementation: a general controller for the whole system and a set of independent subcontrollers for UVMSs. The results of both approaches are similar; however, for the systems with a small number of manipulators, the common structure is recommended, and for the systems with a large number of manipulators, the approach with independent subcontrollers may be more acceptable. The proposed method of cooperative control was tested on the task of cooperative control for two UVMSs with six-link manipulators Orion 7R. The simulation results are presented in the article and show the effectiveness of the proposed method.

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“…where e = x − x re f , x re f -is the desired value of the system state vector (14), which is determined by the desired value of the generalized coordinates.…”

Section: Synthesis Of An Sddre Tracking Controllermentioning

confidence: 99%

“…Underwater vehicle-manipulator systems (UVMS) can fulfill underwater sampling, grabbing, operation, and other tasks in addition to observation. It is widely used in marine scientific investigations, marine engineering, and other fields [14].…”

Section: Introductionmentioning

confidence: 99%

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

Kabanov

Kramar

Lipko

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

A review of underwater vehicle motion stability

Bao,

Zhang,

Song

et al. 2023

Ocean Engineering

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Research of the Meshing Performance of New Concave-convex Ball Teeth

Shao,

Yang,

Yang

2024

J. Phys.: Conf. Ser.

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Aiming at the limitations of the existing hydraulic pumps, a new type of bidirectional water-hydraulic internal ball gear pump using concave-convex ball teeth meshing to transfer power is proposed. In this paper, the principle of internal gear pump is utilized to establish the model of internal ball gear pump, and its mechanical properties and dynamic meshing characteristics are numerically investigated by using the finite element method. The results show that (a) the concave-convex ball gears run smoothly without any interference, and (b) increasing the number of gear rows can effectively reduce the maximum stress and meshing impact under a given load and speed. This study provides a basis for the development of high-performance ball gear pumps.

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Research Progress of Underwater Vehicle-manipulator Systems: Configuration, Modeling and Control

Cited by 8 publications

References 138 publications

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

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

A review of underwater vehicle motion stability

Research of the Meshing Performance of New Concave-convex Ball Teeth

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