Underwater Robots - Gianluca Antonelli.pdf

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252 References 79. Chiaverini S. and Sciavicco L. (1993) The Parallel Approach toForce/Position Control of Robotic Manipulators. IEEE Transactions on Robotics and Automation, 9:361–373 80. Chiaverini S. and Siciliano B. (1999) The Unit Quaternion: AUseful Tool for Inverse Kinematics of Robot Manipulators. Systems Analysis, Modelling and Simulation, 35:45–60 81. Choi H.T., Hanai A., Choi S.K. and YuhJ.(2003) Development ofanUnderwater Robot: ODIN III. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, 836–841 82. Choi S.K. and YuhJ.(1993) Design of Advanced Underwater Robotic Vehicle and graphic Workstation. In: IEEE International Conference on Robotics and Automation, Atlanta, Georgia, 99–105 83. Choi S.K. and YuhJ.(1996) Experimental Study on aLearning Control System with Bound Estimation for Underwater Robots. In: Autonomous Robots, YuhJ., Ura T., Bekey G.A. (Eds.), Kluwer Academic Publishers, 187–194 84. Choi S.K. and YuhJ.(1996) Experimental Study on aLearning Control System with Bound Estimation for Underwater Robots. In: 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 2160–2165 85. Chou J.C.K. (1992) Quaternion Kinematic and Dynamic Differential Equations. IEEE Transactions on Robotics and Automation, 1:53–64 86. Chung G.B., Eom K.S., YiB.-J., Suh I.H., Oh S.RS., and Cho Y.J. (2000) Disturbance Observer-Based Robust Control for Underwater Robotic Systems with Passive Joints. In: IEEE International Conference on Robotics and Automation, San Francisco, California, 1775–1780 87. Chung G.B., Eom K.S., Yi B.-J., Suh I.H., Oh S.RS., Chung W.K., and Kim J.O. (2001) Disturbance Observer-Based Robust Control for Underwater Robotic Systems with Passive Joints. In: Journal of Advanced Robotics, 15:575–588 88. Conte G. and Serrani A. (1994) Robust Lyapunov-Based Design for Autonomous Underwater Vehicles. In: IFAC Symposium on Robot Control, Capri, Italy, 321–326 89. Conte G. and Serrani A. (1997) Robust Lyapunov-Based Design for Autonomous Underwater Vehicles. 5th IFAC Symposium on Robot Control, Nantes, France, 321–326 90. Conte G. and Serrani A. (1998) Global Robust Tracking with Disturbance Attenuation for Unmanned Underwater Vehicles. In: 1998 IEEE International Conference on Control Applications, Trieste, Italy, 1094–1098 91. Corradini M.L. and Orlando G. (1997) ADiscrete Adaptive Variable-Structure Controller for MIMO Systems, and Its Application to an Underwater ROV. IEEE Transactions on Control Systems Technology, 5:349–359 92. Coste-Maniè re E., Peuch A., Perrier M., Rigaud V., Wang H.H., Rock S.M. and Lee M.J. (1996) Joint Evaluation ofMission Programming for Underwater Robots. In: IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 2492-2497 93. Cristi R., Pappulias F.A. and Healey A. (1990) Adaptive Sliding Mode Control of Autonomous Underwater Vehicles in the DivePlane. IEEE JournalofOceanic Engineering, 15:152–160 94. Cui Y., Podder T. and Sarkar N. (1999) Impedance Control of Underwater Vehicle-Manipulator Systems (UVMS). In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, 148–153 95. Cui Y. and Sarkar N. (2000) AUnified Force Control Approach toAutonomus Underwater Manipulation. In: IEEE International Conference on Robotics and Automation, San Francisco, California, 1263–1268
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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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joint torques [Nm] 200 0 −200 −
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e.e. orientation error [deg] 2 1 0
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Page 245 and 246: 226 9. Coordinated Control of Plato
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Page 267 and 268: References 249 28. Antonelli G.and
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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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