Underwater Robots - Gianluca Antonelli.pdf

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66 3. Dynamic Control of 6-DOF AUVs Figure 3.6 and 3.7 report the position, orientation and control effort for controller C .Itcan be observed astrong coupling during the commanded yaw rotation caused bythe controller itself. This can be further appreciated in Figure 3.8 where the projection of the vehicle position on the xy plane during the rotation compared with controller A is given. position [m] orientation [deg] 1 0.8 0.6 0.4 0.2 0 −0.2 100 80 60 40 20 0 y x z 0 50 100 150 200 250 300 350 400 φ θ −20 0 50 100 150 200 250 300 350 400 time [s] Fig. 3.6. Simulated position and orientation for the reduced controller C ψ
force [N] moment [Nm] 20 10 0 −10 −20 −30 3.9 Numerical Comparison Among the Reduced Controllers 67 −40 0 50 100 150 200 250 300 350 400 20 10 0 −10 K M −20 0 50 100 150 200 250 300 350 400 time [s] Fig. 3.7. Simulated force and moment for the reduced controller C y [m] 0.5 0 A C −0.5 −0.5 0 x [m] 0.5 Fig. 3.8. Comparison of the position on the plane xy for the reduced controller A and C N Z X Y
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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
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 87: force [N] moment [Nm] 20 10 0 −10
Page 91 and 92: force [N] moment [Nm] 20 10 0 −10
Page 101 and 102: 80 4. Fault Detection/Tolerance Str
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
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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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8.4 External Force Control 211 UVMS
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[N] [m] 350 300 250 200 150 100 50
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[deg] [deg] 10 5 0 −5 −10 50 40
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8.5 Explicit Force Control 217 wher
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8.5 Explicit Force Control 219 wher
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[m] [deg] 0.2 0.1 0 −0.1 8.5 Expl
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[m] [deg] 0.2 0.1 0 −0.1 −0.2 0
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226 9. Coordinated Control of Plato
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238 10. Concluding Remarks control
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240 A. Mathematical models ⎡ 6 .
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242 A. Mathematical models using th
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244 A. Mathematical models L = 2 m
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References 1. Alekseev Y.K., Kosten
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References 249 28. Antonelli G.and
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References 251 62. Caccia M., Indiv
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References 253 96. Cui Y. and Sarka
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References 255 134. Garcia R., Puig
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References 257 168. Kato N. and Lan
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References 259 mera. In: IEEE Inter
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References 261 235. Podder T.K. and
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References 263 273. Solvang B., Den
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References 265 310. Yoerger D.R., S
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