Abstract
This paper presents new motion planning and robust coordinated control schemes for trajectory tracking of the underwater vehicle-manipulator system (UVMS) subjected to model uncertainties, time-varying external disturbances, payload and sensory noises. A redundancy resolution technique with a new secondary task and nonlinear function is proposed to generate trajectories for the vehicle and manipulator. In this way, the vehicle attitude and manipulator position are aligned in such a way that the interactive forces are reduced. To resist sensory measurement noises, an extended Kalman filter (EKF) is utilized to estimate the UVMS states. Using these estimates, a tracking controller based on feedback Linearization with both the joint-space and task-space tracking errors is proposed. Moreover, the inertial delay control (IDC) is incorporated in the proposed control scheme to estimate the lumped uncertainties and disturbances. In addition, a fuzzy compensator based on these estimates via IDC is introduced for reducing the undesired effects of perturbations. Trajectory tracking tasks on a five-degrees-of-freedom (5-DOF) underwater vehicle equipped with a 3-DOF manipulator are numerically simulated. The comparative results demonstrate the performance of the proposed controller in terms of tracking errors, energy consumption and robustness against uncertainties and disturbances.
Highlights
With increasing interest in the field of marine research, autonomous underwater vehicle manipulator systems (UVMSs) [1] have rapidly developed into important devices for exploring the ocean, completing underwater tasks, underwater sampling and so on
From these results it is observed that the proposed controller drives the UVMS to track the desired spatial linear and circular trajectories quite satisfactorily in both the proposed redundancy resolution technique (c1) and the comparative redundancy resolution technique (c2)
This paper presents a motion planning and coordinated control scheme for the trajectory tracking of the UVMS
Summary
With increasing interest in the field of marine research, autonomous underwater vehicle manipulator systems (UVMSs) [1] have rapidly developed into important devices for exploring the ocean, completing underwater tasks, underwater sampling and so on. It is a challenging problem to accurately control the UVMS in an energy-efficient manner due to the kinematic redundancy and underwater environment with hydrodynamic uncertainties, unknown external disturbances (such as ocean currents) and inaccurate sensor information. For solving these problems, inverse kinematics and robust coordinated control techniques have been developed for the UVMS. For the inverse kinematics of the UVMS, the solution can be obtained through mapping the end-effector’s velocities to the velocities of the vehicle and manipulator. As the UVMS has redundant degrees of freedom (DOFs), there are various combinations of vehicle and manipulator velocities without affecting the end-effector velocities.
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