Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration

Xia, Xiang; Lapierre, Lionel; Jouvencel, B.

doi:10.1016/j.robot.2014.09.024

Cited by 184 publications

(66 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…[18][19][20][21] Among them, in the study by Wang et al, 18 the global asymptotic model-free trajectory-independent tracking of underwater vehicle under the unknown dynamics and disturbances to any unmeasurable trajectory, an adaptive universe-based fuzzy control method with retractable fuzzy partitioning is proposed. The problem of steering AUV along a desired horizontal trajectory tracking control throughout the full-range low-speed and high-speed profiles was addressed by Xiang et al, 21 and they also studied the smooth continuous trajectory control transition between two configurations of the fully actuated and under-actuated AUV. The properties of the control objects (AUV or ROV) in the above literature belong to a class of model uncertain nonlinear systems, 22,23 and the ULAM also belongs to the model uncertain nonlinear system.…”

Section: Introductionmentioning

confidence: 99%

Driving performance of underwater long-arm hydraulic manipulator system for small autonomous underwater vehicle and its positioning accuracy

Yang

Wang

Yao

2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

A novel underwater long-arm manipulator (ULAM) and its improved small-flow hydraulic driving system (SHDS) are presented in this article for small autonomous underwater vehicle (AUV). In the process of manipulator design, a joint driving device consisting of linear hydraulic cylinder, three-bar linkage, and four-bar linkage mechanism is developed to allow the manipulator to be folded. Since the manipulator is much long, a small joint angle deviation would result in a large end-effector's position deviation. To solve the problem, a small-flow hydraulic driving device with circulation in closed loop is proposed. And in the long-arm manipulator, the cross-sectional area of manipulator is small. So the diameter of hydraulic pipeline installed inside the manipulator is limited, but the pipeline should also be long enough. In this case, it is common to cause large pressure loss in hydraulic system. And, rather than oil, water is selected as the hydraulic medium due to the low viscosity. In the hydraulic system design, a scheme with circulation in closed loop and improved sealing structure (consisting of O-ring and Glyd-ring) are developed to reduce the internal leakage and maintain a good endeffector's precision. In addition, the compressibility of water is relatively large, and it would bring bad impact on endeffector's precision. In this case, the vacuum-treated water is used and it has a good performance in the high-pressure condition. But in the low-pressure condition, the problem is still serious. In order to solve the problem, based on the "vacuum treatment," a pre-pressurization pressure treatment is added for the vacuum-treated water. All the improved ways are verified by experiment results. Finally, the end-effector's positioning experiment and trajectory tracking experiment are conducted on manipulator and small AUV, so as to verify the effectiveness and feasibility of the ULAM.

show abstract

Section: Introductionmentioning

confidence: 99%

Driving performance of underwater long-arm hydraulic manipulator system for small autonomous underwater vehicle and its positioning accuracy

Yang

Wang

Yao

2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…5,8 A better solution to relax the initial condition constraints of path following is to select the reference point to be an arbitrary point on the path which will result in the addition of the along-track error. 6,7,9 Guidance law is of critical importance that determines the overall performance of the controller during the path following. The LOS method is an effective and popular way to design the guidance law.…”

Section: Introductionmentioning

confidence: 99%

Adaptive line-of-sight path following control for underactuated autonomous underwater vehicles in the presence of ocean currents

Zeng

Wan

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This article presents a nonlinear adaptive line-of-sight path following controller for underactuated autonomous underwater vehicles in the presence of ocean currents. Firstly, a new nonsingular path following error kinematic model in the Serret-Frenet frame is developed, where a nominal course angle error is introduced to significantly simplify the guidance law design. Secondly, an adaptive line-of-sight guidance law with the introduction of the current observer is proposed to make the vehicle produce a variable sideslip angle to compensate for the drift force for any parametric curved-path path following. Benefit from the global k-exponential convergence property of the designed current observer, the actual course angle error can be eliminated indirectly. Then, dynamic controller built on Lyapunov theory and backstepping technique guarantee the uniform global exponential stability of the yaw and relative surge velocity. In the end, stability analysis shows that the global k-exponential stability is achieved for the closed-loop system. Simulation results demonstrate the effectiveness of the proposed control scheme.

show abstract

“…Guidance is of critical importance for marine vessels to accomplish the desired motion scenarios such as target tracking, path following, path tracking, and path maneuvering (Fossen, 2002;Breivik and Fossen, 2009;Chen et al, 2013;Cui et al, 2008;Peng et al, 2013Peng et al, , 2015Peng et al, , 2016Xiang et al, 2015a;Gao et al, 2015). For the path following problem, the control objective is to follow a parameterized path without involving any requirements pertaining to temporal constraints (Chen and Tian, 2015;Xiang et al, 2015b).…”

Section: Introductionmentioning

confidence: 99%

Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation

2016

View full text Add to dashboard Cite

Smooth transition of AUV motion control: From fully-actuated to under-actuated configuration

Cited by 184 publications

References 25 publications

Driving performance of underwater long-arm hydraulic manipulator system for small autonomous underwater vehicle and its positioning accuracy

Driving performance of underwater long-arm hydraulic manipulator system for small autonomous underwater vehicle and its positioning accuracy

Adaptive line-of-sight path following control for underactuated autonomous underwater vehicles in the presence of ocean currents

Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation

Contact Info

Product

Resources

About