Underwater Robots - Gianluca Antonelli.pdf

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260 References 218. Ögren P. and Leonard N.E. (2003). Obstacle avoidance inFormation. In: Proceedings 2003 IEEE International Conference on Robotics and Automation. Taipei, Taiwan, 2492–2497 219. Oh Y., Chung W.K., Youm Y., Suh I.H. (1998) Motion/Force Decomposition of Redundant Manipulator and Its Application to Hybrid Impedance Control. In: IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1441–1446 220. Olguin Diaz E. (1999) Modélisation et Commande d’un Systè me Véhicule/Manipulateur Sous-Marin (in French), Thè se pour le grade de Docteur de l’Institut National Polytechnique deGrenoble, Grenoble, France 221. Oliveira P. and Pascoal A. (1998) Navigation Systems Design: an Application of Multi-Rate Filtering Theory. In: MTS/IEEE Techno-Ocean ’98, Nice, France, 1348–1353 222. Orrick A., McDermott M., Barnett D., Nelson E.and Williams G. (1994) Failure Detection in an Autonomous Underwater Vehicle. In: Proceedings Symposium on Autonomous Underwater Vehicle Technology, Cambridge, Massachusetts, 377–382 223. Ortega R. and Spong M.W. (1989) Adaptive Motion Control of Rigid Robots: aTutorial. Automatica, 25:877–888 224. Padir T. and Koivo A.J. (2003) Modeling of Two Underwater Vehicles with Manipulators On-Board. IEEE Transcations of Systems, Man and Cybernetics, 33:1259–1364 225. Pascoal A., Kaminer I. and Oliveira P. (1998) Navigation System Design Using Time-Varying Complementary Filters. In: 1998 IEEE International Conference on Control Applications, Trieste, Italy, 1099–1104 226. Peng Z. and Adachi N. (1993) Compliant Motion Control of Kinematically Redundant Manipulators. IEEE Transactions on Robotics and Automation, 9:831–837 227. Pereira J. and Duncan A. (2000) System identification of Underwater Vehicles. In: Proceedings 2000 International Symposium Underwater Technology, Tokyo, Japan, 419–424 228. Perrault D. and Nahon M. (1998) Fault-Tolerant Control of an Autonomous Underwater Vehicle. In: MTS/IEEE Techno-Ocean ’98, Nice, France, 820–824 229. Petrich J., Woolsey C.A. and Stilwell D.J. (2005) Identification of aLow- Complexity Flow Field Model for AUV Applications. In: MTS/IEEE Techno- Ocean ’05, Washington, DC 230. Pierrot F., Benoit M. and Dauchez P. (1998) SamoS: APythagorean Solution for Omnidirectional Underwater Vehicles. J.Lenarč ič and M.L. Husty (eds.), In: Advances in Robot Kinematics: Analysis and Control, Kluwer Academic Publishers, the Netherlands 231. Podder T.K. (1998) Dynamic and Control of Kinematically Redundant Underwater Vehicle-Manipulator Systems. Autonomous Systems Laboratory Technical Report, ASL 98-01, University ofHawaii, Honolulu, Hawaii 232. Podder T.K., Antonelli G.and Sarkar N. (2000) Fault Tolerant Control of an Autonomous Underwater VehicleUnder Thruster Redundancy: Simulations and Experiments. In: IEEE International Conference on Robotics and Automation, San Francisco, California, 1251–1256 233. Podder T.K., Antonelli G.and Sarkar N. (2001) An Experimental Investigation into the Fault-Tolerant Control of an Autonomous Underwater Vehicle. Journal of Advanced Robotics, 15:501–520 234. Podder T.K. and Sarkar N. (1999) Fault Tolerant Decomposition of Thruster Forces of an Autonomous Underwater Vehicle. In: IEEE International Conference on Robotics and Automation, Leuven, Belgium, 84–89
References 261 235. Podder T.K. and Sarkar N. (2000) Dynamic Trajectory Planning for Autonomous Underwater Vehicle-Manipulator Systems. In: IEEE International Conference on Robotics and Automation, San Francisco, California, 3461–3466 236. Podder T.K. and Sarkar N. (2001) Fault Tolerant Control of an Autonomous Underwater Vehicle Under Thruster Redundancy. Robotics and Autonomous Systems, 34:39–52 237. Quinn A.W. and Lane D. (1994) Computational Issues in Motion Planning for Autonomous Underwater Vehicle with Manipulators. In: IEEE Symposium on Autonomus Underwater Vehicle Technology, Boston, 255–262 238. Rae G.J.S. and Dunn S.E. (1994) On-Line Damage Detection for Autonomous Underwater Vehicle. In: Proceedings Symposium on Autonomous Underwater Vehicle Technology, Cambridge, Massachusetts, 383–392 239. Raibert M.H. and Craig J.J. (1981) Hybrid Position/Force Control of Manipulators. Transactions ASME Journal of Dynamic Systems, Measurement, and Control, 102:126–133 240. Rauch H.E. (1994) Intelligent Fault Diagnosis and Control Reconfiguration. In: IEEE International Symposium on Intelligent Control, Chicago, Illinois, 6– 12 241. Reynolds C. (1987) Flocks, herd and schools: Adistributed behavioral model. In: Proceedings Computer Graphics, 21(4)25–34 242. Richard M.J. and Lévesque B. (1996) Stochastic Dynamical Modelling of an Open-Chain Manipulator in aFluid Environment. Mechanism and Machine Theory, 31:561–572 243. Riedel J.S. (2000) Shallow Water Stationkeeping of an Autonomous Underwater Vehicle: The Experimental Results of aDisturbance Compensation Controller. In: MTS/IEEE Techno-Ocean ’00, Providence, Rhode Island, 1017–1024 244. Riedel J.S. and Healey A.J. (1998) Shallow Water Station Keeping of AUV Using Multi-Sensor Fusion for Wave Disturbance Prediction and Compensation. In: MTS/IEEE Techno-Ocean ’98, Kobe, Japan, 1064–1068 245. Ryu J.H., Kwon D.S. and Lee P.M. (2001) Control of Underwater Manipulators Mounted on aROV Using Base Force Information. In: IEEE International Conference on Robotics and Automation, Seoul, Korea, 3238–3243 246. Roberson R.E. and Schwertassek R. (1988) Dynamics of Multibody Systems, Springer-Verlag, Berlin 247. Roberson D.G. and Stilwell D.J.(2005) Control fo an Autonomous Underwater Vehicle Platoon with aSwitched Communication Netwrok. In: 2005 American Control Conference, Portland, Oregon, 4333–4338 248. Salisbury J.K. (1980) Active Stiffness Control of aManipulator in Cartesian Coordinates. In: 1980 IEEE Conference on Decision and Control, Albuquerque, New Mexico, 95–100 249. Sarkar N. and Podder T.K. (1999) Motion Coordination of Underwater Vehicle Manipulator Systems Subject to Drag Optimization. In: IEEE International Conference on Robotics and Automation, Detroit, Michigan, 387–392 250. Sarkar N. and Podder T.K. (2001) Coordinated Motion Planning and Control Autonomous Underwater Vehicle-Manipulator Systems Subject to Drag Optimization. IEEE Journal Oceanic Engineering, 26:228–239 251. Sarkar N., Podder T.K., and Antonelli G.(2002) Fault-accommodating thruster force allocation of an AUV considering thruster redundancy and saturation. IEEE Transactions on Robotics and Automation, 18:223–233 252. Sarkar N., YuhJ., and Podder T.K. (1999) Adaptive Control of Underwater Vehicle-Manipulator Systems Subject to Joint Limits. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, 142–147
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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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vehicle position [m] 0.1 0.05 0 −
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8. Interaction Control of UVMSs 8.1
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8.3 Impedance Control 203 8.2 Dexte
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8.4 External Force Control 205 The
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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 267 and 268: References 249 28. Antonelli G.and
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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: References 259 mera. In: IEEE Inter
Page 281 and 282: References 263 273. Solvang B., Den
Page 283: References 265 310. Yoerger D.R., S
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