Underwater Robots - Gianluca Antonelli.pdf

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A.5 9-DOF UVMS 245 Table A.4. Link inertia [Nms 2 ]ofthe 3-link manipulator mounted on the underwater vehicle I x,i I y,i I z,i I xy,i I xz,i I yz,i link 1 11 11 1. 65 0 0 0 link 2 6. 3 6. 3 0. 75 0 0 0 link 3 4 4 . 4 0 0 0
References 1. Alekseev Y.K., Kostenko V.V. and Shumsky A.Y. (1994) Use of Identification and Fault Diagnostic Methods for Underwater Robotics. In: MTS/IEEE Techno-Ocean ’94, Brest, France, 489–494 2. Alessandri A., Caccia M., Indiveri G. and Veruggio G. (1998) Application of LS and EKF Techniques to the Identification of Underwater Vehicles. In: 1998 IEEE International Conference on Control Applications, Trieste, Italy, 1084– 1088 3. Alessandri A., Caccia M. and Veruggio G. (1998) AModel-Based Approach to Fault Diagnosis inUnmanned Underwater Vehicles. In: MTS/IEEE Techno- Ocean ’98, Nice, France, 825–829 4. Alessandri A., Caccia M. and Veruggio G. (1999) Fault Detection of Actuator Faults in Unmanned Underwater Vehicles. Control Engineering Practice, 7:357– 368 5. Alessandri A., Gibbons A., Healey A.J. and Veruggio G. (1999) Robust Model- Based Fault Diagnosis for Unmanned Underwater Vehicles Using Sliding Mode- Observers. In: Proceedings International Symposium Unmanned Untethered Submersible Technology, Durham, New Hampshire, 352-359 6. Alvarez A., Caffaz A., Caiti A., Casalino G., Clerici E., Giorgi F., Gualdesi L. and Turetta A. (2004) Design and realization of avery low cost prototypal autonomous vehicle for coastal oceanographic missions. In: IFAC Conference on Control Applications in Marine Systems -CAMS 2004, Ancona, Italy, 471– 476 7. Alvarez A., Caffaz A., Caiti A., Casalino G., Clerici E., Giorgi F., Gualdesi L., Turetta A. and Viviani R. (2005) Folaga: avery low cost autonomous underwater vehicle for coastal oceanography. In: Proceddings 16th IFAC World Congress, Praha, Czech Republic 8. Antonelli G.(2003) Underwater Robots. Motion and Force Control of Vehicle- Manipulator Systems. Springer Tracts in Advanced Robotics, Springer-Verlag, Heidelberg, Germany 9. Antonelli G.(2003) ANew Adaptive Control Law for the Phantom ROV. In: 7th IFAC Symposium on Robot Control, Wroclaw, Poland, 569–574 10. Antonelli G.(2002) Asurvey of fault detection/tolerance strategies for AUVs and ROVs. In: Fault diagnosis and tolerance for mechatronic systems. Recent advances, Caccavale F., Villani L., (Eds.), Springer Tracts in Advanced Robotics, Springer-Verlag, 109–127 11. AntonelliG. 1 ,Caccavale F. and Chiaverini S. (1999) AModular Scheme for Adaptive Control of Underwater Vehicle-Manipulator Systems. In: 1999 American Control Conference, San Diego, California, 3008–3012 1 Note that, as customary in Italy, for the papers concerning the Author of this monograph, G. Antonelli and when all co-Authors are Italians, the list is in alphabetical order regardless of the importance of single contributions
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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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6.6 Fuzzy Inverse Kinematics 121 It
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Simulations 6.6 Fuzzy Inverse Kinem
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6.6 Fuzzy Inverse Kinematics 125 Fi
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vehicle attitude [deg] 20 10 0 −1
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6.6 Fuzzy Inverse Kinematics 129 It
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[-] 1 0.8 0.6 0.4 0.2 0 close 0 20
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joint positions 1-3 [deg] joint pos
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e.e. position error [m] 0.02 0.01 0
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7. Dynamic Control of UVMSs 7.1 Int
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7.2 Feedforward Decoupling Control
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7.2 Feedforward Decoupling Control
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7.4 Nonlinear Control for UVMSs wit
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7.5 Non-regressor-Based Adaptive Co
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7.6 Sliding Mode Control 7.6 Slidin
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7.6 Sliding Mode Control 153 u = B
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7.6 Sliding Mode Control 155 Practi
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7.7 Adaptive Control 157 of gravity
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Let us consider the scalar function
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7.7 Adaptive Control 161 The vehicl
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[deg] 3 2.5 2 1.5 1 0.5 7.8 Output
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7.8 Output Feedback Control 165 It
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7.8 Output Feedback Control 167 whe
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7.8 Output Feedback Control 169 C T
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7.8 Output Feedback Control 171 wit
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[m] [deg] [deg] 0.1 0.05 0 −0.05
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[m] [-] [deg] x 10−3 10 8 6 4 2 0
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[Nm] [Nm] [Nm] 500 0 −500 50 0
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[m] [-] [deg] x 10−3 10 8 6 4 2 0
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[N] [N] [N] 20 0 −20 40 20 0 −2
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[Nm] [Nm] [Nm] 50 0 −50 350 300 2
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7.9 Virtual Decomposition Based Con
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Page 221 and 222: 8. Interaction Control of UVMSs 8.1
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Page 233 and 234: [N] [m] 350 300 250 200 150 100 50
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Page 237 and 238: 8.5 Explicit Force Control 217 wher
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Page 241 and 242: [m] [deg] 0.2 0.1 0 −0.1 8.5 Expl
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Page 245 and 246: 226 9. Coordinated Control of Plato
Page 257 and 258: 238 10. Concluding Remarks control
Page 259 and 260: 240 A. Mathematical models ⎡ 6 .
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Page 267 and 268: References 249 28. Antonelli G.and
Page 269 and 270: References 251 62. Caccia M., Indiv
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Page 273 and 274: References 255 134. Garcia R., Puig
Page 275 and 276: References 257 168. Kato N. and Lan
Page 277 and 278: References 259 mera. In: IEEE Inter
Page 279 and 280: References 261 235. Podder T.K. and
Page 281 and 282: References 263 273. Solvang B., Den
Page 283: References 265 310. Yoerger D.R., S
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