A Feasible and Applicable Motion Control Method for AUV

2013 ◽  
Vol 694-697 ◽  
pp. 1771-1778
Author(s):  
Lei Zhang ◽  
Zhuo Wang ◽  
Jin Xin Zhao ◽  
Ying Liu
Keyword(s):  
Motion Control ◽  
Integral Method ◽  
High Speed ◽  
Control Method ◽  
Velocity Control ◽  
Coupling Effects ◽  
Yaw Control ◽  
Surface Control ◽  
Adaptive Weight ◽  
Depth Control

Both the high speed and the changing excess buoyancy can make it difficult in motion control of AUV, in order to solve the problems, an improved control method based on S-surface control is proposed. Taking static forces and coupling effects between longitude velocity and other dimensions into account, the compensation related to the speed is brought into the method to handle the effects caused by high speed. In accordance with the thoughts of S-surface control, an anti-windup intelligent integral method is presented to handle the changing excess buoyancy and propulsion loss via an adaptive weight determined by estimating the motion states of AUV. Finally, experiments of velocity control, yaw control and depth control are conducted, and the results prove the feasibility and advantages in application to AUV motion control.

Research on Motion Control of AUV with Hybrid Actuators

2013 ◽  
Vol 341-342 ◽  
pp. 906-912 ◽  
Author(s):  
Lei Zhang ◽  
Da Peng Jiang ◽  
Shu Ling Huang ◽  
Jin Xin Zhao
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Velocity Control ◽  
Yaw Control ◽  
Depth Control ◽  
System Vibration ◽  
The Stability

A switch function is presented to smooth control instructions and avoid system vibration during switch operating underwater vehicles with hybrid actuators. And a Modified S-plane Controller (MSC) is proposed by analyzing underwater vehicles dynamics and taking static force and coupling effects between the longitude velocity and other dimensions into account. Besides the advantages of S controller such as simple structure, MSC can solve the motion control of underwater vehicle at high speed which is difficult to control with S-plane controller. The stability of MSC is analyzed with Lyapunov function. Finally, MSC is applied to the motion control of an autonomous underwater vehicle controlled by rudders and thrusters. The feasibility of MSC is demonstrated by the results of velocity control, yaw control and depth control tests.

Autonomous motion of a mobile manipulator using a combined torque and velocity control

Robotica ◽  
2004 ◽  
Vol 22 (6) ◽  
pp. 623-632 ◽  
Author(s):  
Damir Omrčen ◽  
Leon Žlajpah ◽  
Bojan Nemec
Keyword(s):  
Real Time ◽  
Motion Control ◽  
Obstacle Avoidance ◽  
Control Method ◽  
Mobile Platform ◽  
Mobile Manipulator ◽  
Velocity Control ◽  
Unstructured Environments ◽  
Time Motion ◽  
Fixed Base

The paper presents an algorithm for real-time motion control of a mobile manipulator in unstructured environments. The mobile manipulator consists of a velocity controlled mobile platform and a torque controlled manipulator. Therefore, a combination of torque and velocity control is used. For the obstacle avoidance two different principles are used: virtual repulsive velocity and action-reaction principle. The proposed control method has been verified on real system, composed of a mobile platform and a four DOFs manipulator arms. The results have been compared to the manipulator with a fixed base.

Velocity Control Method for Continuous Short Line Segment High-Speed Machining Based on Transition of Parametric Spline

2010 ◽  
Vol 97-101 ◽  
pp. 2407-2411 ◽  
Author(s):  
Li Bing Zhang ◽  
You Peng You ◽  
Jun He ◽  
Jun Liu
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Control Method ◽  
Machining Efficiency ◽  
Velocity Control ◽  
Short Line ◽  
Spline Curves ◽  
Look Ahead ◽  
Short Line Segment ◽  
Simulation And Experiment

To enhance the velocity profile’s smoothness and machining efficiency of continuous short line segments, a velocity smooth control algorithm was presented based on the transition of cubic parametric spline curves. The transitional mathematical model was constructed, and an improved S-shaped jerk-limited acceleration/deceleration algorithm with look-ahead was adopted for smoother velocity profiles. The simulation and experiment results showed that machining efficiency was greatly improved, and smoother velocity profile was achieved, which approved the feasibility and validity of the proposed method.

Many High Performance Motion Control of Linear Motor Drive System Research

2014 ◽  
Vol 599-601 ◽  
pp. 981-984
Author(s):  
Chuan Jun Li ◽  
Qiu Juan Liang
Keyword(s):  
Motion Control ◽  
High Precision ◽  
High Speed ◽  
High Performance ◽  
Control Method ◽  
Linear Motor ◽  
Structure Design ◽  
Numerical Control ◽  
System Control ◽  
Motion Platform

To realize the movement of high-speed, high-precision positioning, satisfy the requirement of the numerical control processing equipment and high precision, based on high performance motion control platform driven by linear motor, an optimized for high performance XY table structure design, the broadband modal coupling modeling and simulation movement, dynamics analysis and controller design, such as content, high performance motion platform organization structure optimization, the global optimization of mechanical system and electrical system. Eventually for high performance sports mechanism design, modeling method and system control method provides the key techniques such as solution, and to develop more high performance motion control of linear motor driven platform prototype machines.

Human Dynamic Skill in High Speed Actions and Its Realization by Robot

2000 ◽  
Vol 12 (3) ◽  
pp. 318-324 ◽  
Author(s):  
Aiguo Ming ◽  
◽  
Makoto Kajitani
Keyword(s):  
Motion Control ◽  
Basic Concept ◽  
High Speed ◽  
Control Method ◽  
Golf Swing ◽  
Dynamic Coupling ◽  
Passive Joint ◽  
Ultra High Speed ◽  
Simulation Results ◽  
And Control

This paper describes human dynamic skill of motion control in high speed actions (e.g. hitting actions) and its application to development of ultra-high-speed manipulator. Human skill is investigated by measuring the motion of human hammering action and analyzing from kinetics, and is called as multi-step acceleration by dynamic coupling drive. According to the results, basic concept for ultra-high-speed manipulator to realize human dynamic skill is given. As a simple example, a golf swing robot with one actuated joint and one passive joint with stopper, and a control method to realize two-step acceleration by dynamic coupling drive are proposed. The effectiveness of the proposed mechanism and control method is confirmed by simulation results.

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