Underwater Robots - Gianluca Antonelli.pdf

More documents

Recommendations

Info

254 References 116. Feezor M.D., Sorrel F.Y., Blankinship P.R. and Bellingham J.G. (2001) Autonomous Underwater Vehicle Homing/Docking via Electromagnetic Guidance. IEEE Journal ofOceanic Engineering, 26(4):515–521 117. Ferguson J.S. (1998) The Theseus Autonomous Underwater Vehicle. Two Successful Missions. In: Proceedings 1998 International Symposium Underwater Technology, Tokyo, Japan, 109–114 118. Ferguson J.S., Pope A., Butler B., Verrall R. (1999) Theseus AUV -Two Record Breaking Missions. Sea Technology Magazine, 65–70 119. Ferretti G., Magnani G., and Rocco P. (1997) Toward the Implementation of Hybrid Position/Force Control in Industrial Robots. IEEE Transactions on Robotics and Automation, 16:838–845 120. Fiorelli E., Leonard N.E., Bhatta P, Paley D.A., Bachmayer R.and Fratantoni D.M. (2004) Multi-AUV Control and Adaptive Sampling in Monterey Bay. In: IEEE Autonomous Underwater Vehicles 2004: Workshop on Multiple AUV Operations (AUV04) 121. Fjellstad O. and Fossen T.I. (1994) Singularity-Free Tracking of Unmanned Underwater Vehicles in 6DOF. In: 1994 IEEE Conference on Decision and Control, Lake Buena Vista, Florida, 1128–1133 122. Fjellstad O. and Fossen T.I. (1994) Position and Attitude Tracking of AUVs: A Quaternion Feedback Approach. IEEE Journal of Oceanic Engineering, 19:512– 518 123. Fjellstad O. and Fossen T.I. (1994) Quaternion Feedback Regulation of Underwater Vehicles. In: 1994 IEEE International Conference on Control Applications, Glasgow, United Kingdom, 857–862 124. Fossen T.I. (1991) Adaptive Macro-Micro Control of Nonlinear Underwater Robotic Systems. In: International Conference on Advanced Robotics, Pisa, Italy, 1569–1572 125. Fossen T.I. and Balchen J. (1991) The NEROV Autonomous Underwater Vehicle. In: MTS/IEEE Techno-Ocean ’91 Conference, Honolulu, Hawaii 126. Fossen T.I. and Sagatun S.I. (1991) Adaptive Control of Nonlinear Systems: Acase Study of Underwater Robotic Systems. Journal of Robotic Systems, 8:393–412 127. Fossen T.I. (1994) Guidance and Control of Ocean Vehicles, John Wiley & Sons, Chichester, United Kingdom 128. Fossen T.I. (2002) Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics AS, Trondheim, Norway 129. Fossen T.I. and Fjellstad O. (1995) Robust Adaptive Control of Underwater Vehicles: AComparative Study. In: IFAC Workshop on Control Applications in Marine Systems, Trondheim, Norway, 66–74 130. Fossen T.I. and Sagatun S.I. (1991) Adaptive Control of Nonlinear Underwater Robotic Systems. In: IEEE International Conference on Robotics and Automation, Sacramento, California, 1687–1694 131. Fraisse P.,Lapierre L., Dauchez P. (2000) Position/Force Control of an Underwater Vehicle Equipped with aRobotic Manipulator. In: 6th IFAC Symposium on Robot Control, Wien, Austria, 475–479 132. Gadre A., Mach J.E., Stilwell D.J., and Wick C.E. (2003) Design ofaPrototype Miniature Autonomous Underwater Vehicle. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, 842–846 133. Gadre A. and Stilwell D.J. (2005) AComplete Solution to Underwater Navigation in the Presence of Unknown Currents Based on Range Measurements from aSingle Location. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, 1743–1748
References 255 134. Garcia R., Puig J., Ridao P. and Cufi X. (2002) Augmented State Kalman Filtering for AUV Navigation. In: IEEE International Conference on Robotics and Automation, Washington, DC, 4010–4015 135. Gautier M. (1990) Numerical Calculation of the Base Inertial Parameters of Robots. In: 1990 IEEE International Confernece on Robotics and Automation, Cincinnati, Ohio, 1020–1025 136. Ghabcheloo R., Pascoal A., Silvestre C., Carvalho D. (2005) Coordinated Motion Control of Multiple Autonomous Underwater Vehicle. In: Proceedings IARP International Workshop on Underwater Robotics, Genova, Italy, 41–50 137. Goheen K.R. (1991) Modeling Methods for Underwater Robotic Vehicle Dynamics. Journal of Robotic Systems, 8:295–317 138. Goheen K.R. and Jeffreys R. (1993) Multivariable Self-Tuning Autopilots for Autonomous and Remotely Operated Underwater Vehicles. IEEE Journal of Oceanic Engineering, 15:144–151 139. Grenon G., An P.E., Smith S.M. and Healey A.J. (2001) Enhancement ofthe Inertial Navigation System for the Morpheus Autonomous Underwater Vehicles. IEEE Journal of Oceanic Engineering, 26:548–560 140. Hamilton K., Lane D., Taylor N. and Brown K. (2001) Fault Diagnosis on Autonomous Robotic Vehicles with RECOVERY: an Integrated Heterogeneous- Knowledge Approach. In: IEEE International Conference on Robotics and Automation, San Francisco, California, 1251–1256 141. Healey A.J. (2001) Application of Formation Control for Multi-Vehicle Robotic Minesweeping. In: Proceddings 40 th IEEE Conference on Decision and Control, Orlando, Florida, 1497–1502 142. Healey A.J. (1992) ANeural Network Approach toFailure Diagnostics for Underwater Vehicles. In: Proceedings IEEE Oceanic Engineering Society Symposium on Autonomous Underwater Vehicles, Washington D.C., 131–134 143. Healey A.J. (1998) Analytical Redundancy and Fuzzy Inference in AUV Fault Detection and Compensation. In: Proceedings Oceanology 1998, Brighton, 45– 50 144. Healey A.J., Bahrke F., Navarrete J. (1992) Failure Diagnostics for Underwater Vehicles: ANeural Network Approach. In: IFAC Conference on Maneuvering and Control of Marine Craft, Aalborg, Denmark, 293–306 145. Healey A.J. and Lienard D. (1993) Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles. IEEE Journal of Oceanic Engineering, 18:327–339 146. Healey A.J. and Marco D.B. (1992) Experimental Verification of Mission Planning by Autonomous Mission Execution and Data Visualization Using the NPS AUV II. In: Proceedings 1992 Symposium Autonomous Underwater Vehicle Technology, Washington, DC, 65–72 147. Healey A.J., Rock S.M., Cody S., Miles D.and Brown J.P. (1995) Toward an Improved Understanding of Thruster Dynamics for Underwater Vehicles. IEEE Journal of Oceanic Engineering, 20:354–361 148. Healey A.J. and Kim Y. (1997) Control of Small Robotic Vehicles in Unexploded Ordnance Clearance. In: IEEE International Conference Robotics and Automation, Albuquerque, New Mexico 149. Hogan N. (1985) Impedance Control: An Approach toManipulation. (Parts I-III). Transactions ASME Journal of Dynamic Systems, Measurement, and Control, 107:1–24 150. Hooker W. and Margulies G. (1965) The Dynamical Attitude Equations for an n-Body Satellite. Journal Astronaut Science, XII(4), 123
Page 1 and 2:
Springer Tracts in Advanced Robotic
Page 3 and 4:
Gianluca Antonelli Underwater Robot
Page 5 and 6:
Editorial Advisory Board EUROPE Her
Page 7 and 8:
Elalocomotiva sembrava fosse un mos
Page 9 and 10:
Acknowledgements The contributions
Page 11 and 12:
Preface to the Second Edition The p
Page 13 and 14:
XVIII Preface to the First Edition
Page 15 and 16:
XX Preface tothe First Edition mani
Page 17 and 18:
XXII Notation η q =[η T 1 ε T η
Page 19 and 20:
XXIV Notation ˜x error variable de
Page 21 and 22:
XXVI Contents 3. Dynamic Control of
Page 23 and 24:
XXVIIIContents A. Mathematical mode
Page 25 and 26:
2 1. Introduction Maybe the first i
Page 27 and 28:
4 1. Introduction (Massachusetts, U
Page 29 and 30:
6 1. Introduction Fig. 1.4. Coordin
Page 31 and 32:
8 1. Introduction Fig. 1.5. Pig, ma
Page 33 and 34:
10 1. Introduction An example of cr
Page 35 and 36:
12 1. Introduction Fig. 1.8. Romeo
Page 37 and 38:
2. Modelling ofUnderwater Robots
Page 39 and 40:
2.2 Rigid Body’s Kinematics 17 Th
Page 41 and 42:
J T k,oqJ k,oq = 1 4 I 3 , that all
Page 43 and 44:
5. compute the quaternion Q by the
Page 45 and 46:
2.3 Rigid Body’s Dynamics 23 Let
Page 47 and 48:
2.4 Hydrodynamic Effects 25 τ 1 =
Page 49 and 50:
C A ( ν )=− C T A ( ν ) ∀ ν
Page 51 and 52:
2.4 Hydrodynamic Effects 29 effects
Page 53 and 54:
2.5 Gravity and Buoyancy 2.5 Gravit
Page 55 and 56:
2.6 Thrusters’ Dynamics 33 Fig. 2
Page 57 and 58:
2.7 Underwater Vehicles’ Dynamics
Page 59 and 60:
y z 2.8 Kinematics of Manipulators
Page 61 and 62:
2.9 Dynamics ofUnderwater Vehicle-M
Page 63 and 64:
2.9 Dynamics ofUnderwater Vehicle-M
Page 65 and 66:
2.11 Identification 43 f e = K ( x
Page 67 and 68:
3. Dynamic Control of 6-DOF AUVs 3.
Page 69 and 70:
3.2 Earth-Fixed-Frame-Based, Model-
Page 71 and 72:
o x z o b z b x b 3.3 Earth-Fixed-F
Page 73 and 74:
3.4 Vehicle-Fixed-Frame-Based, Mode
Page 75 and 76:
o o b y x y b x b 3.5 Model-Based C
Page 77 and 78:
3.6 Mixed Earth/Vehicle-Fixed-Frame
Page 79 and 80:
3.7 Jacobian-Transpose-Based Contro
Page 81 and 82:
3.8 Comparison Among Controllers 59
Page 83 and 84:
3.9 Numerical Comparison Among the
Page 85 and 86:
Page 87 and 88:
force [N] moment [Nm] 20 10 0 −10
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100:
Page 101 and 102:
80 4. Fault Detection/Tolerance Str
Page 103 and 104:
Page 105 and 106:
Page 107 and 108:
Page 109 and 110:
Page 111 and 112:
Page 113 and 114:
5. Experiments of Dynamic Control o
Page 115 and 116:
5.3 Experiments of Dynamic Control
Page 117 and 118:
[m] [m] 5 4 3 2 1 0 0 100 200 300 4
Page 119 and 120:
5.3 Experiments of Dynamic Control
Page 121 and 122:
5.4 Experiments of Fault Tolerance
Page 123 and 124:
[deg] 120 100 80 60 40 20 0 −20 5
Page 125 and 126:
6. Kinematic Control of UVMSs “.
Page 127 and 128:
6.2 Kinematic Control 107 UVMS. Thi
Page 129 and 130:
6.2 Kinematic Control 109 singulari
Page 131 and 132:
6.2 Kinematic Control 111 case of t
Page 133 and 134:
6.5 Singularity-Robust Task Priorit
Page 135 and 136:
Page 137 and 138:
Page 139 and 140:
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 153 and 154:
Page 155 and 156:
joint positions 1-3 [deg] joint pos
Page 157 and 158:
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 and 192:
7.8 Output Feedback Control 171 wit
Page 193 and 194:
[m] [deg] [deg] 0.1 0.05 0 −0.05
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 207 and 208:
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
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
Page 243 and 244: [m] [deg] 0.2 0.1 0 −0.1 −0.2 0
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 .
Page 261 and 262: 242 A. Mathematical models using th
Page 263 and 264: 244 A. Mathematical models L = 2 m
Page 265 and 266: References 1. Alekseev Y.K., Kosten
Page 267 and 268: References 249 28. Antonelli G.and
Page 269 and 270: References 251 62. Caccia M., Indiv
Page 271: References 253 96. Cui Y. and Sarka
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
show all

Underwater Robots - Gianluca Antonelli.pdf

Create successful ePaper yourself

Delete template?

Save as template?