Underwater Robots - Gianluca Antonelli.pdf

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248 References 12. Antonelli G., Caccavale F. and Chiaverini S. (2001) AVirtual Decomposition Based Approach toAdaptive Control of Underwater Vehicle-Manipulator Systems. In: 9th Mediterranean Conference on Control and Automation, Dubrovnik, Croatia 13. Antonelli G., Caccavale F., Chiaverini S. and Fusco G. (2001) ANovel Adaptive Control Law for Autonomous Underwater Vehicles. In: IEEE International Conference on Robotics and Automation, Seoul, Korea, 447–451 14. Antonelli G., Caccavale F., Chiaverini S. and Fusco G. (2001) On the Use of Integral Control Actions for Autonomous Underwater Vehicles. In: European Control Conference, Porto, Portugal, 1186–1191 15. Antonelli G., Caccavale F., Chiaverini S. and Fusco G. (2002) AModular Control Law for Underwater Vehicle-Manipulator Systems Adapting on aMinimum Set ofParameters. In: IFAC World Congress, Barcelona, Spain 16. Antonelli G., Caccavale F., Chiaverini S. and Fusco G. (2003) ANovel Adaptive Control Law for Underwater Vehicles. IEEE Transactions on Control Systems Technology, 11(2):221–232 17. Antonelli G., Caccavale F., Chiaverini S. and Villani L. (1998) An Output Feedback Algorithm for Position and Attitude Tracking Control of Underwater Vehicles. In: 1998 IEEE Conference on Decision and Control, Tampa, Florida, 4567–4572 18. Antonelli G., Caccavale F., Chiaverini S. and Villani L. (2000) Tracking Control for Underwater Vehicle-Manipulator Systems with Velocity Estimation. IEEE Journal of Oceanic Engineering, 25:399–413 19. Antonelli G., Caccavale F., Chiaverini S. and Villani L. (2000) Control of Underwater Vehicle-Manipulator Systems Using Only Position and Orientation Measurements. 6th IFAC Symposium on Robot Control, Wien, Austria, 463– 468 20. Antonelli G.and Chiaverini S. (1998) Task-Priority Redundancy Resolution for Underwater Vehicle-Manipulator Systems. In: IEEE International Conference on Robotics and Automation, Leuven, Belgium, 768–773 21. Antonelli G.and Chiaverini S. (1998) Singularity-Free Regulation of Underwater Vehicle-Manipulator Systems. In: 1998 American Control Conference, Philadelphia, PA,399–403 22. Antonelli G.and Chiaverini S. (1998) Adaptive Tracking Control of Underwater Vehicle-Manipulator Systems. In: 1998 IEEE International Conference on Control Applications, Trieste, Italy, 1089–1093 23. Antonelli G.and Chiaverini S. (2000) SIMURV. Asimulation package for Underwater Vehicle-Manipulator Systems. In: 3rd IMACS Symposium on Mathematical Modelling, Wien, Austria, 533–536 24. Antonelli G.and Chiaverini S. (2000) Fuzzy Inverse Kinematics for Underwater Vehicle-Manipulator Systems. 7th International Symposium on Advances in Robot Kinematics, Piran-Portoroˇz ,Slovenia. In: Advances in Robot Kinematics, J. Lenar˘c i˘c and M.M. Stani˘sić (Eds.), Kluwer Academic Publishers, Dordrecht, the Netherlands, 249–256 25. Antonelli G.and Chiaverini S. (2000) AFuzzy Approach toRedundancy Resolution for Underwater Vehicle-Manipulator Systems. In: 5 th IFAC Conference on Manoeuvring and Control of Marine Craft, Aalborg, Denmark 26. Antonelli G.and Chiaverini S. (2002) AFuzzy Approach toRedundancy Resolution for Underwater Vehicle-Manipulator Systems. Control Engineering Practice, in press 27. Antonelli G.and Chiaverini S. (2003) Obstacle Avoidance for aPlatoon of Autonomous Underwater Vehicles. In: 6thIFACConference on Manoeuvring and Control of Marine Craft, Girona, Spain, 143–148
References 249 28. Antonelli G.and Chiaverini S. (2003). Kinematic Control of aPlatoon ofAutonomous Vehicles. In: Proceedings 2003 IEEE International Conference on Robotics and Automation. Taipei, Taiwan, 1464–1469 29. Antonelli G.and Chiaverini S. (2003) Fuzzy Redundancy Resolution and Motion Coordination for Underwater Vehicle-Manipulator Systems. IEEE Transactions on Fuzzy Systems, 11(1)109–120 30. Antonelli G.and Chiaverini S. (2004). Fault Tolerant Kinematic Control of Platoons of Autonomous Vehicles. In: Proceedings 2003 IEEE International Conference on Robotics and Automation, New Orleans, Louisiana, 3313–3318 31. Antonelli G., Chiaverini S. and Sarkar N. (1999) Explicit Force Control for Underwater Vehicle-Manipulator Systems with Adaptive Motion Control Law. In: IEEE Hong Kong Symposium on Robotics and Control, Hong Kong, 361–366 32. Antonelli G., Chiaverini S. and Sarkar N. (1999) An Explicit Force Control Scheme for Underwater Vehicle-Manipulator Systems. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, 136–141 33. Antonelli G., Chiaverini S. and Sarkar N. (2001) External Force Control for Underwater Vehicle-Manipulator Systems. IEEE Transactions on Robotics and Automation, 17:931–938 34. Antonelli G., Chiaverini S., Sarkar N. and West M. (1999) Singularity-free Adaptive Control for Underwater Vehicles in 6dof. Experimental Results on ODIN. In: IEEE International Symposium on Computational Intelligence in Robotics and Automation, Monterey, California, 64–69 35. Antonelli G., Chiaverini S., Sarkar N. and West M. (2001) Adaptive Control of an Autonomous Underwater Vehicle: Experimental Results on ODIN. IEEE Transactions on Control System Technology, 9:756–765 36. Antonelli G., Sarkar N. and Chiaverini S. (1999) External Force Control for Underwater Vehicle-Manipulator Systems. In: 1999 IEEE Conference on Decision and Control, Phoenix, Arizona, 2975–2980 37. Antonelli G., Sarkar N. and Chiaverini S. (2002) Explicit Force Control for Underwater Vehicle-Manipulator Systems. Robotica, 20:251–260 38. Arimoto S. (1996) Control Theory of Nonlinear Mechanical Systems. A Passivity-based and Circuit-theoretic Approach. Clarendon Press 39. Babcock IV P.S. and Zinchuk J.J. (1990) Fault Tolerant Design Optimization: Application to an Autonomous Underwater Vechile Navigation System. In: Proceedings Symposium on Autonomous Underwater Vehicle Technology, Washington DC, 34–43 40. Bachmayer L., Whitcomb L.L. and Grosenbaugh M.A. (2000) An Accurate Four-Quadrant Nonlinear Dynamical Model for Marine Trhusters: Theory and Experimental Validation. IEEE Journal ofOceanic Engineering, 25:146–159 41. Balasuriya A. and T. Ura (2000) AStudy of the Control of an Underactuated Underwater Robotic Vehicle. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, 849–854 42. Barnett D. and McClaran S. (1996) Architecture of the Texas A& MAutonomous Underwater Vehicle Controller. In: Proceedings Symposium on Autonomous Underwater Vehicle Technology, Monterey, California, 231–237 43. Beale G.O. and Kim J.H. (2000) ARobust ApproachtoReconfigurable Control. In: 5 th IFAC Conference on Manoeuvring and Control of Marine Craft, Aalborg, Denmark, 197–202 44. Ben-Israel and Greville T.N.E (1974) Generalized Inverse: Theory and Application. Wiley, New York 45. Berghuis H. and Nijmeijer H. (1993) A Passivity Approach to Controller- Observer Design for Robots. IEEE Transactions on Robotics and Automation, 9:740–754
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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 215 and 216: joint torques [Nm] 200 0 −200 −
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Page 245 and 246: 226 9. Coordinated Control of Plato
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Page 259 and 260: 240 A. Mathematical models ⎡ 6 .
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Page 265: References 1. Alekseev Y.K., Kosten
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Page 271 and 272: References 253 96. Cui Y. and Sarka
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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