Underwater Robots - Gianluca Antonelli.pdf

XXVI Contents
3. Dynamic Control of6-DOF AUVs ........................ 45
3.1 Introduction ........................................... 45
3.2 Earth-Fixed-Frame-Based, Model-Based Controller ......... 47
3.3 Earth-Fixed-Frame-Based, Non-model-Based Controller ..... 49
3.4 Vehicle-Fixed-Frame-Based, Model-Based Controller ........ 51
3.5 Model-Based Controller Plus Current Compensation ........ 53
3.6 Mixed Earth/Vehicle-Fixed-Frame-Based, Model-Based Controller
................................................. 55
3.6.1 Stability Analysis ................................ 56
3.7 Jacobian-Transpose-Based Controller ..................... 57
3.8 Comparison Among Controllers .......................... 59
3.8.1 Compensation of the Restoring Generalized Forces.... 59
3.8.2 Compensation of the Ocean Current ................ 60
3.9 Numerical Comparison Among the Reduced Controllers ..... 60
3.9.1 Results.......................................... 63
3.9.2 Conclusions and Extension toUVMSs .............. 77
4. Fault Detection/Tolerance Strategies for AUVs and ROVs 79
4.1 Introduction ........................................... 79
4.2 Experienced Failures .................................... 80
4.3 Fault Detection Schemes ................................ 82
4.4 Fault Tolerant Schemes ................................. 86
4.5 Experiments ........................................... 88
4.6 Conclusions............................................ 91
5. Experiments ofDynamic Control of a6-DOF AUV ....... 93
5.1 Introduction ........................................... 93
5.2 Experimental Set-Up.................................... 93
5.3 Experiments ofDynamic Control ......................... 94
5.4 Experiments ofFault Tolerance to Thrusters’ Fault ......... 101
6. Kinematic Control of UVMSs ............................ 105
6.1 Introduction ........................................... 105
6.2 Kinematic Control ...................................... 106
6.3 The Drag Minimization Algorithm........................ 112
6.4 The Joint Limits Constraints ............................ 112
6.5 Singularity-Robust Task Priority ......................... 113
6.6 Fuzzy Inverse Kinematics ................................ 121
6.7 Conclusions............................................ 139
7. Dynamic Control of UVMSs .............................. 141
7.1 Introduction ........................................... 141
7.2 Feedforward Decoupling Control .......................... 143
7.3 Feedback Linearization .................................. 146
7.4 Nonlinear Control for UVMSs with Composite Dynamics .... 146