Underwater Robots - Gianluca Antonelli.pdf

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172 7. Dynamic Control of UVMSs remain in the domain B ρ for all t>0provided that �η d ( t ) > 0, �η e ( t ) > 0for all t>0. The latter condition isfulfilled when �η d (0) and �η e (0) are positive; in fact, � �ε d �
[m] [deg] [deg] 0.1 0.05 0 −0.05 7.8 Output Feedback Control 173 −0.1 0 5 10 time [s] 15 20 20 10 0 −10 −20 θ 0 5 10 time [s] 15 20 40 20 0 q 1 q 3 −20 q 2 φ ψ −40 0 5 10 time [s] 15 20 Fig. 7.12. Output feedback control. Desired trajectories used in the case studies. Top: vehicle position; Middle: vehicle orientation (RPY angles); Bottom: joint positions where ζ r = ζ d + Λ d e d .The vectors ˙ ζ and ˙ ζ r are computed via first-order difference. The above control lawisanalogoustothe operational space control law proposed in [266] and extended in [108] in the framework of quaternionbased attitude control. To obtain acontrol law ofcomputational complexity similar to that of (7.41), the algorithm (7.61) has been modified into the simpler form � † u = B M ( q ) ˙ ζ r + K v ( ζ r − ζ )+K p e d + g ( q , R I � B ) The parameters in the control laws are set to Λ d =blockdiag { 0 . 005I 3 , 0 . 01I 3 , 0 . 01I 3 } , Λ e =blockdiag { 5 I 3 , 10I 3 , 10, 10, 5 } , z . (7.62)
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Springer Tracts in Advanced Robotic
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Gianluca Antonelli Underwater Robot
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Editorial Advisory Board EUROPE Her
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Elalocomotiva sembrava fosse un mos
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Acknowledgements The contributions
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Preface to the Second Edition The p
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XVIII Preface to the First Edition
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XX Preface tothe First Edition mani
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XXII Notation η q =[η T 1 ε T η
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XXIV Notation ˜x error variable de
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XXVI Contents 3. Dynamic Control of
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XXVIIIContents A. Mathematical mode
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2 1. Introduction Maybe the first i
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4 1. Introduction (Massachusetts, U
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6 1. Introduction Fig. 1.4. Coordin
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8 1. Introduction Fig. 1.5. Pig, ma
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10 1. Introduction An example of cr
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12 1. Introduction Fig. 1.8. Romeo
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2. Modelling ofUnderwater Robots
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2.2 Rigid Body’s Kinematics 17 Th
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J T k,oqJ k,oq = 1 4 I 3 , that all
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5. compute the quaternion Q by the
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2.3 Rigid Body’s Dynamics 23 Let
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2.4 Hydrodynamic Effects 25 τ 1 =
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C A ( ν )=− C T A ( ν ) ∀ ν
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2.4 Hydrodynamic Effects 29 effects
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2.5 Gravity and Buoyancy 2.5 Gravit
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2.6 Thrusters’ Dynamics 33 Fig. 2
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2.7 Underwater Vehicles’ Dynamics
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y z 2.8 Kinematics of Manipulators
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2.9 Dynamics ofUnderwater Vehicle-M
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2.9 Dynamics ofUnderwater Vehicle-M
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2.11 Identification 43 f e = K ( x
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3. Dynamic Control of 6-DOF AUVs 3.
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3.2 Earth-Fixed-Frame-Based, Model-
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o x z o b z b x b 3.3 Earth-Fixed-F
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3.4 Vehicle-Fixed-Frame-Based, Mode
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o o b y x y b x b 3.5 Model-Based C
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3.6 Mixed Earth/Vehicle-Fixed-Frame
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3.7 Jacobian-Transpose-Based Contro
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3.8 Comparison Among Controllers 59
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3.9 Numerical Comparison Among the
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force [N] moment [Nm] 20 10 0 −10
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80 4. Fault Detection/Tolerance Str
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5. Experiments of Dynamic Control o
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5.3 Experiments of Dynamic Control
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[m] [m] 5 4 3 2 1 0 0 100 200 300 4
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5.3 Experiments of Dynamic Control
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5.4 Experiments of Fault Tolerance
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[deg] 120 100 80 60 40 20 0 −20 5
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6. Kinematic Control of UVMSs “.
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6.2 Kinematic Control 107 UVMS. Thi
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6.2 Kinematic Control 109 singulari
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6.2 Kinematic Control 111 case of t
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6.5 Singularity-Robust Task Priorit
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Page 141 and 142: 6.6 Fuzzy Inverse Kinematics 121 It
Page 143 and 144: Simulations 6.6 Fuzzy Inverse Kinem
Page 145 and 146: 6.6 Fuzzy Inverse Kinematics 125 Fi
Page 147 and 148: vehicle attitude [deg] 20 10 0 −1
Page 149 and 150: 6.6 Fuzzy Inverse Kinematics 129 It
Page 151 and 152: [-] 1 0.8 0.6 0.4 0.2 0 close 0 20
Page 155 and 156: joint positions 1-3 [deg] joint pos
Page 159 and 160: e.e. position error [m] 0.02 0.01 0
Page 161 and 162: 7. Dynamic Control of UVMSs 7.1 Int
Page 163 and 164: 7.2 Feedforward Decoupling Control
Page 165 and 166: 7.2 Feedforward Decoupling Control
Page 167 and 168: 7.4 Nonlinear Control for UVMSs wit
Page 169 and 170: 7.5 Non-regressor-Based Adaptive Co
Page 171 and 172: 7.6 Sliding Mode Control 7.6 Slidin
Page 173 and 174: 7.6 Sliding Mode Control 153 u = B
Page 175 and 176: 7.6 Sliding Mode Control 155 Practi
Page 177 and 178: 7.7 Adaptive Control 157 of gravity
Page 179 and 180: Let us consider the scalar function
Page 181 and 182: 7.7 Adaptive Control 161 The vehicl
Page 183 and 184: [deg] 3 2.5 2 1.5 1 0.5 7.8 Output
Page 185 and 186: 7.8 Output Feedback Control 165 It
Page 187 and 188: 7.8 Output Feedback Control 167 whe
Page 189 and 190: 7.8 Output Feedback Control 169 C T
Page 191: 7.8 Output Feedback Control 171 wit
Page 195 and 196: [m] [-] [deg] x 10−3 10 8 6 4 2 0
Page 197 and 198: [Nm] [Nm] [Nm] 500 0 −500 50 0
Page 199 and 200: [m] [-] [deg] x 10−3 10 8 6 4 2 0
Page 201 and 202: [N] [N] [N] 20 0 −20 40 20 0 −2
Page 203 and 204: [Nm] [Nm] [Nm] 50 0 −50 350 300 2
Page 205 and 206: 7.9 Virtual Decomposition Based Con
Page 215 and 216: joint torques [Nm] 200 0 −200 −
Page 217 and 218: e.e. orientation error [deg] 2 1 0
Page 219 and 220: vehicle position [m] 0.1 0.05 0 −
Page 221 and 222: 8. Interaction Control of UVMSs 8.1
Page 223 and 224: 8.3 Impedance Control 203 8.2 Dexte
Page 225 and 226: 8.4 External Force Control 205 The
Page 227 and 228: 8.4 External Force Control 207 be f
Page 229 and 230: 8.4 External Force Control 209 that
Page 231 and 232: 8.4 External Force Control 211 UVMS
Page 233 and 234: [N] [m] 350 300 250 200 150 100 50
Page 235 and 236: [deg] [deg] 10 5 0 −5 −10 50 40
Page 237 and 238: 8.5 Explicit Force Control 217 wher
Page 239 and 240: 8.5 Explicit Force Control 219 wher
Page 241 and 242: [m] [deg] 0.2 0.1 0 −0.1 8.5 Expl
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[m] [deg] 0.2 0.1 0 −0.1 −0.2 0
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226 9. Coordinated Control of Plato
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238 10. Concluding Remarks control
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240 A. Mathematical models ⎡ 6 .
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242 A. Mathematical models using th
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244 A. Mathematical models L = 2 m
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References 1. Alekseev Y.K., Kosten
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References 249 28. Antonelli G.and
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References 251 62. Caccia M., Indiv
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References 253 96. Cui Y. and Sarka
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References 255 134. Garcia R., Puig
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References 257 168. Kato N. and Lan
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References 259 mera. In: IEEE Inter
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References 261 235. Podder T.K. and
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References 263 273. Solvang B., Den
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References 265 310. Yoerger D.R., S
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