A region boundary-based control scheme for an autonomous underwater vehicle

2011 ◽  
Vol 38 (17-18) ◽  
pp. 2270-2280 ◽  
Author(s):  
Zool H. Ismail ◽  
Matthew W. Dunnigan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Control Scheme

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

A robust dynamic region-based control scheme for an autonomous underwater vehicle

2016 ◽  
Vol 111 ◽  
pp. 155-165 ◽  
Author(s):  
Zool H. Ismail ◽  
Mohd B.M. Mokhar ◽  
Vina W.E. Putranti ◽  
Matthew W. Dunnigan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Control Scheme

scholarly journals Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Mohan Santhakumar
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Model Reference Control ◽  
Control Scheme ◽  
Underwater Manipulator ◽  
Dynamics And Control ◽  
And Control

This study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle (AUV) are analyzed by considering the actuator and sensor characteristics. A model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS). The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties.

A Fuzzy Fault Tolerant Control Scheme for an Autonomous Underwater Vehicle

2001 ◽  
Vol 34 (7) ◽  
pp. 425-430
Author(s):  
A.R. Pearson ◽  
R. Sutton ◽  
R.S. Burns ◽  
P. Robinson
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Underwater Vehicle ◽  
Control Scheme

A unified force control approach to autonomous underwater manipulation

Robotica ◽  
2001 ◽  
Vol 19 (3) ◽  
pp. 255-266 ◽  
Author(s):  
Yong Cui ◽  
Nilanjan Sarkar
Keyword(s):  
Force Control ◽  
Autonomous Underwater Vehicle ◽  
Hybrid Control ◽  
Impedance Control ◽  
Underwater Vehicle ◽  
Robotic System ◽  
Control Approach ◽  
Control Scheme ◽  
Underwater Manipulation ◽  
Six Degree Of Freedom

A unified force control scheme for an autonomous underwater robotic system is proposed in this paper. This robotic system is composed of a six degree-of-freedom autonomous underwater vehicle (AUV) and a robotic arm that is mounted on the AUV. A unified force control approach, which combines impedance control with hybrid position/force control by means of fuzzy switching to perform autonomous underwater manipulation, is presented in this paper. This controller requires a dynamic model of the underwater vehicle-manipulator system. However, it does not require any model of the environment and therefore will have the potential to be useful in underwater tasks where the environment is generally unknown. The proposed approach combines the advantages of impedance control with hybrid control so that both smooth contact transition and force trajectory tracking can be achieved. In the absence of any functional autonomous underwater vehicle-manipulator system that can be used to verify the proposed controller, extensive computer simulations are performed and the results are presented in the paper.

A robust sonar servo control scheme for wall-following using an autonomous underwater vehicle

2013 ◽  
Author(s):  
George C. Karras ◽  
Charalampos P. Bechlioulis ◽  
Hashim Kemal Abdella ◽  
Tom Larkworthy ◽  
Kostas Kyriakopoulos ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Servo Control ◽  
Control Scheme ◽  
Wall Following

scholarly journals NonlinearH∞Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Zool H. Ismail ◽  
Matthew W. Dunnigan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Tracking Error ◽  
Underwater Vehicle ◽  
Control Technique ◽  
Control Law ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
Region Tracking

A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function. Within this control scheme, nonlinearH∞and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.

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