Experimental validation of constraint mitigation algorithm in underwater robot depth control

2018 ◽  
Vol 233 (3) ◽  
pp. 264-275
Author(s):  
Juan Luis Rosendo ◽  
Benoit Clement ◽  
Fabricio Garelli
Keyword(s):  
Closed Loop ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Path Following ◽  
Underwater Robot ◽  
Modeling And Control ◽  
Depth Control ◽  
Actuator Constraints ◽  
Proportional Derivative Controller ◽  
And Control

This work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating algorithm is proposed based on quasi-sliding mode conditioning ideas and added to a pre-existing inaccessible proportional-derivative controller in order to improve the overall closed-loop response. By considering actuator constraints, the employed technique allows path following at greater speed than the original controller for a given error tolerance. Experimental results on the so-called Ciscrea underwater robot are presented.

scholarly journals Modeling and Control of a Micro AUV: Objects Follower Approach

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2574 ◽  
Author(s):  
Jesus Monroy-Anieva ◽  
Cyril Rouviere ◽  
Eduardo Campos-Mercado ◽  
Tomas Salgado-Jimenez ◽  
Luis Garcia-Valdovinos
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Low Cost ◽  
Closed Loop System ◽  
Depth Sensor ◽  
Modeling And Control ◽  
System A ◽  
Formal Stability ◽  
Proportional Derivative Controller ◽  
And Control

This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.

Lagrangian D’Alembert Modeled Maneuverable Autonomous Non-Holonomic Mobile Robot Using a Closed Loop PD Controller

2009 ◽  
Author(s):  
E. Georgiou ◽  
J. Dai
Keyword(s):  
Mobile Robot ◽  
Closed Loop ◽  
Ad Hoc ◽  
Search And Rescue ◽  
Pd Controller ◽  
Modeling And Control ◽  
Holonomic Constraints ◽  
And Control ◽  
Holonomic Mobile Robot ◽  
Initial Results

The motivation for this work is to develop a platform for a self-localization device. Such a platform has many applications for the autonomous maneuverable non-holonomic mobile robot classification, which can be used for search and rescue or for inspection devices where the robot has a desired path to follow but because of an unknown terrain, the device requires the ability to make ad-hoc corrections to its movement to reach its desire path. The mobile robot is modeled using Lagrangian d’Alembert’s principle considering all the possible inertias and forces generated, and are controlled by restraining movement based on the holonomic and non-holonomic constraints of the modeled vehicle. The device is controlled by a PD controller based on the vehicle’s holonomic and non-holonomic constraints. An experiment was setup to verify the modeling and control structure’s functionality and the initial results are promising.

Dynamic Modeling and Control of Packing Pressure in Injection Molding

1994 ◽  
Vol 116 (2) ◽  
pp. 244-249 ◽  
Author(s):  
J. Hu ◽  
J. H. Vogel
Keyword(s):  
Injection Molding ◽  
Closed Loop ◽  
Good Control ◽  
Pressure Control ◽  
Physical Parameters ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Packing Pressure ◽  
And Control ◽  
Plastic Injection

A dynamic model of injection molding developed from physical considerations is used to select PID gains for pressure control during the packing phase of thermo-plastic injection molding. The relative importance of various aspects of the model and values for particular physical parameters were identified experimentally. The controller gains were chosen by pole-zero cancellation and root-locus methods, resulting in good control performance. Both open and closed-loop system responses were predicted and verified, with good overall agreement.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Modeling of Overactuated Closed-Loop Mechanisms With Singularities: Simulation and Control

2001 ◽  
Author(s):  
Latchezar L. Ganovski ◽  
Paul Fisette ◽  
Jean-Claude Samin
Keyword(s):  
Closed Loop ◽  
Random Noise ◽  
Degree Polynomial ◽  
Modeling And Control ◽  
Lagrange Multiplier Technique ◽  
Redundantly Actuated ◽  
Feed Forward Controller ◽  
And Control ◽  
Loop Constraint ◽  
Coordinate Partitioning

Abstract The modeling and control of redundantly actuated closed-loop mechanical systems is considered in the present work an illustrated with a planar four-bar mechanism and a 3-D parallel manipulator. A specific trajectory involving singular configurations is generated and then followed using the overactuation. To generate the trajectory, four-degree polynomial functions are considered. The loop constraint equations are solved by means of the Newton-Raphson numerical algorithm. In order to describe the dynamics of the systems, the Lagrange multiplier technique is used. The multipliers are eliminated via the coordinate partitioning method. To overcome the underdetermined state of the system induced by the overactuation, additional equations that represent a specific condition for smoothly passing through the singularities are applied. Further, to control the redundantly actuated mechanisms a feed-forward controller is chosen. The robustness of the controller is investigated through several cases of simulation including random noise applied to the controller input and instantaneous loading.

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