Vehicle-manipulator system dynamic modeling and control for underwater autonomous manipulation

Huang, Hai; Tang, Qirong; Li, Hongwei; Liang, Le; Li, Weipo; Pang, Yongjie

doi:10.1007/s11044-016-9538-3

Cited by 32 publications

(23 citation statements)

References 23 publications

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“…Although some previous works utilize the GPM to optimize restoring moments for UVMSs [32][33][34], there are two main differences. One is the Jacobian matrix in [32][33][34] is used to describe the velocity relationship between the configuration space and the Cartesian space (i.e., the Jacobian matrix in (27)), rather than the Jacobian matrix described in (26). The other one is previous works [32][33][34] all depend on the accurate Jacobian matrix, rather than the estimated Jacobian matrix.…”

Section: Adaptive Lawsmentioning

confidence: 99%

“…However, to the best of our knowledge, there is limited work on dynamic based uncalibrated visual servoing concerned with the UVMS. Unlike industrial manipulators or mobile robots, the visual servoing process of the UVMS suffers from two aspects: on one hand, since the UVMS is a free-floating multibody mechanism, the inner coupling effects between the manipulator and the vehicle are strong and cannot be neglected [27]. On the other hand, the underwater environment is complex, which makes the system tend to be affected by currents, accurate calibration results of the camera-UVMS system are hard to achieve in underwater environment.…”

Section: Introductionmentioning

confidence: 99%

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Uncalibrated Visual Servoing for Underwater Vehicle Manipulator Systems with an Eye in Hand Configuration Camera

Huang

et al. 2019

Sensors

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This paper presents an uncalibrated visual servoing scheme for underwater vehicle manipulator systems (UVMSs) with an eye-in-hand camera under uncertainties. These uncertainties contain vision sensor parameters, UVMS kinematics and feature position information. At first, a linear separation approach is addressed to collect these uncertainties into vectors, and this approach can also be utilized in other free-floating based manipulator systems. Secondly, a novel nonlinear adaptive controller is proposed to achieve image error convergence by estimating these vectors, the gradient projection method is utilized to optimize the restoring moments. Thirdly, a high order disturbance observer is addressed to deal with time-varying disturbances, and the convergence of the image errors is proved under the Lyapunov theory. Finally, in order to illustrate the effectiveness of the proposed method, numerical simulations based on a 9 degrees of freedom (DOFs) UVMS with an eye-in-hand camera are conducted. In simulations, the UVMS is expected to track a circle trajectory on the image plane, meanwhile, time-varying disturbances are exerted on the system. The proposed scheme can achieve accurate and smooth tracking results during simulations.

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Section: Adaptive Lawsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Uncalibrated Visual Servoing for Underwater Vehicle Manipulator Systems with an Eye in Hand Configuration Camera

Huang

et al. 2019

Sensors

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“…Multi-body dynamics methods for modeling underwater vehicles have been used in refs. [8][9][10][11][12][13]. Ref.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of Underwater Multi-Hull Vehicles

Ingrosso¹,

Palma²,

Avanzini³

et al. 2019

Robotica

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Summary This paper describes a modeling approach to compute the lumped parameter hydrodynamic derivative matrices of an underwater multi-hull vehicle. The vehicle, modeled as a multi-body underwater system and denoted as cluster, can be composed by heterogeneous bodies with known dynamic parameters, rigidly connected. The nonlinear dynamic equations of the cluster and its parameters are derived by means of a modular approach, based on the composition of single basic elements. The ultimate objective is to derive a mathematical description of the multi-hull system that captures its most significant dynamics allowing to design model-based motion controllers and navigation filters. The modular nature of the resulting model can be exploited, by example, when control reconfiguration is to be dealt with in the presence of (possibly multiple) failures. The numerical simulation of a hypothetical cluster is presented and discussed.

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“…Mahamood presented an adaptive hybrid proportional integral derivative control strategy for the two-link flexible manipulator under step signal, square wave signal, white noise disturbance, and sine wave disturbance [15]. Huang et al studied the motion of an underwater manipulator and developed a disturbance observer for the restoring and coupling forces [16].…”

Section: Introductionmentioning

confidence: 99%

Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation

Jin

Wei

et al. 2018

Shock and Vibration

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This paper studies a new boundary control strategy for a flexible manipulator subject to unknown fast time-varying disturbances. The flexible manipulator essentially is an infinite dimensional continuum. Hence, a continuous function of space and time can be employed to describe the position of such a distributed parameter structure, the motion of which can be described by partial differential equations (PDEs). To cope with fast time-varying external disturbances, a high order disturbance observer is adopted. A control strategy based on such a disturbance observer is proposed for the rest-rest maneuvering of the flexible manipulator. Moreover, a smooth hyperbolic function is included in the controller to satisfy the requirement of input saturation. The stability of the boundary control is analyzed using LaSalle's invariance principle. Finally, the performance of the presented boundary controller is verified through comparison with that of employing a constant disturbance observer via numerical simulations.

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Vehicle-manipulator system dynamic modeling and control for underwater autonomous manipulation

Cited by 32 publications

References 23 publications

Uncalibrated Visual Servoing for Underwater Vehicle Manipulator Systems with an Eye in Hand Configuration Camera

Uncalibrated Visual Servoing for Underwater Vehicle Manipulator Systems with an Eye in Hand Configuration Camera

Dynamic Modeling of Underwater Multi-Hull Vehicles

Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation

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