Underwater Robots - Gianluca Antonelli.pdf

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72 3. Dynamic Control of 6-DOF AUVs Figure 3.13 and 3.14 report the position, orientation and control effort for controller F . 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. 3.13. Simulated position and orientation for the reduced controller F ψ
force [N] moment [Nm] 20 10 0 −10 −20 −30 3.9 Numerical Comparison Among the Reduced Controllers 73 −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. 3.14. Simulated force and moment for the reduced controller F 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
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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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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 and 88: force [N] moment [Nm] 20 10 0 −10
Page 93: 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
Page 141 and 142: 6.6 Fuzzy Inverse Kinematics 121 It
Page 143 and 144: 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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