Underwater Robots - Gianluca Antonelli.pdf

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264 References 290. Uliana M., Andreucci F. and B. Papalia (1997) The Navigation System of an Autonomous Underwater Vehicle for Antarctic Exploration. In: MTS/IEEE Techno-Ocean ’97, Halifax, Canada, 403–408 291. Uny Cao Y., Fukunaga A.S. and Kanhg A.B. (1997) Cooperative Mobile Robotics: Antecedents and Directions. Autonomous Robots, 4:7–27 292. Ura T. (2003) Steps to Intelligent AUVs. In: 6thIF AC Conference on Manoeuvring and Control of Marine Craft, Girona, Spain 293. Utkin V.I. (1977) Variable Structure Systems with Sliding Modes. IEEE Transactions in Automatic and Control, 22:212–222 294. Valavanis K.P., Gracanin D., Matijasevic M., Kolluru R.and Demetriou G.A. (1997) Control Architecture for Autonomous Underwater Vehicles. IEEE Control Systems, 48–64 295. Vasudevan C. and Ganesan K. (1996) Case-Based path Planning for Autonomous Underwater Vehicles. In: Underwater Robots, Yuh, Ura and Bekey (Eds.), Kluwer Academic Publishers, Boston, 1–15 296. Walker N.W. and Orin D.E. (1982) Efficient Dynamic Computer Simulation of Robotic Mechanisms. Journal of Dynamic Systems, Measurements, and Control, 104:205–211 297. Wang H.H., Rock S.M. and Lee M.J. (1995) Experiments in Automatic Retrieval of Underwater Objects with an AUV. In: MTS/IEEE Techno-Ocean ’95, 366–373 298. WenJ.T.Y. and Delgado K.K. (1994) The Attitude Control Problem. IEEE Transactions on Automatic Control, 36:1148–1162 299. Whitcomb L.L. (2000) Underwater Robotics: Out of the Research Laboratory and Into the Field. In: 2000 IEEE International Conference on Robotics and Automation, San Franscisco, California, 709–716 300. WhitcombL.L. andYoerger D.R. (1999) Development, Comparison, and Preliminary Experimental Validation ofNonlinear Dynamic Thruster Models. IEEE Journal of Oceanic Engineering, 24:481–494 301. Whitney D.E. (1969) Resolved motion rate control of manipulators and human prostheses. IEEE Transactions of Man, Machine Systems, 10:47–53 302. Whitney D.E. (1977) Force Feedback Control of Manipulators Fine Motions. Transactions ASME Journal of Dynamic Systems, Measurement, and Control, 99:91–97 303. Whitney D.E. (1987) Historical Perspective and State of the Art in Robot Force Control. International Journal of Robotics Research, 6:3–14 304. Xiaoping Y., Bachmann E.R. and Arslan S. (2000) An Inertial Navigation System for Small Autonomous Underwater Vehicles. In: IEEE International Conference on Robotics and Automation, San Francisco, California, 1781–1786 305. Xu Y. and Shum H.Y. (1994) Dynamic Control and Coupling of aFree-Flying Space Robot System. Journal of Robotic Systems, 11:573–589 306. Yang K.C.,Yuh J. and Choi S.K. (1998) Experimental Study of Fault-Tolerant System Design for Underwater Robots. In: IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1051–1056 307. Yang K.C., Yuh J. and Choi S.K. (1999) Fault-Tolerant System Design of an Autonomous Underwater Vehicle –ODIN: an experimental study. International Journal of System Science, 30(9):1011–1019 308. Yavnai A. (1996) Architecture for an Autonomous Reconfigureable Intelligent Control System (ARICS). In: Proceedings Symposium on Autonomous Underwater Vehicle Technology, Monterey, California, 238–245 309. Yoerger D.R., Cooke J.G., and Slotine J.J. (1990) The Influence of Thruster Dynamics on Underwater Vehicle Behavior and their Incorporation into Control System Design. IEEE Journal of Oceanic Engineering, 15:167–178
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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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8.4 External Force Control 207 be f
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8.4 External Force Control 209 that
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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 .
Page 261 and 262: 242 A. Mathematical models using th
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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: References 263 273. Solvang B., Den
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