Tracking control scheme for an underwater vehicle-manipulator system with single and multiple sub-regions and sub-task objectives

Author(s): Z.H. Ismail and M.W. Dunnigan
DOI: 10.1049/iet-cta.2010.0174

For access to this article, please select a purchase option:

Buy article PDF

Buy Knowledge Pack

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership

Recommend Title Publication to library

IET Control Theory & Applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

Author(s): Z.H. Ismail ¹ and M.W. Dunnigan ²
- Affiliations: 1: Department of Mechatronics and Robotics Engineering, Faculty of Electrical Engineering, University of Technology Malaysia, Johor, Malaysia
  2: Department of Electrical, Electronic and Computer Engineering, Heriot-Watt University, Edinburgh, UK
Source: Volume 5, Issue 5, 17 March 2011, p. 721 – 735
DOI: 10.1049/iet-cta.2010.0174 , Print ISSN 1751-8644, Online ISSN 1751-8652

This study presents a novel tracking control scheme for an underwater vehicle-manipulator system (UVMS) where the proposed controller is not only used to track the prescribed sub-region but also allows the use of the self-motion to perform various sub-tasks (i.e. drag minimisation, obstacle avoidance and manipulability) because of the kinematically redundant system. In the proposed control scheme, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. Despite the parametric uncertainty associated with the underwater dynamic model, the controller ensures the sub-task tracking without affecting the sub-region and attitude tracking control objective. The Lyapunov-type approach is utilised to design the controller and an extension to an adaptive-robust control scheme with multiple sub-regions and sub-task objectives is also performed to illustrate the flexibility of the approach. The presence of variable ocean currents creates hydrodynamic forces and moments that are not well known or predictable, even though they are bounded. Therefore the control task of tracking a prescribed sub-region trajectory is challenging because of these additive bounded disturbances. Furthermore, multiple sub-task criteria that are formulated using a weighted-sum approach are added to the control objective. Simulation results are presented to demonstrate the performance of the proposed control law.

References

1. 1)
  - G. Antonelli , S. Chiaverini , N. Sarkar , M. West . Adaptive control of an autonomous underwater vehicle: experimental results on ODIN. IEEE Trans. Control Syst. Technol. , 756 - 765
2. 2)
  - U. Ozbay , H.T. Sahin , E. Zergeroglu . Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria. Robotica , 711 - 728
3. 3)
  - Y. Nakamura . (1991) Advanced robotics: redundancy and optimization.
4. 4)
  - C.A. Desoer , M. Vidyasager . (1975) Feedback systems: input-output properties.
5. 5)
  - O.-E. Fjellstad , T.I. Fossen . Position and attitude tracking of AUV's: a quaternion feedback approach. J. Ocean. Eng. , 4 , 512 - 518
6. 6)
  - Luya, L., Gruver, W.A., Qixian, Z., Weihai, C.: `Real-time control of redundant robots subject to multiple criteria', Proc. 1998 IEEE Int. Conf. on Robotics and Automation, 1998, Leuven, Belgium, 1, p. 115–120.
7. 7)
  - F.L. Lewis , D.M. Dawson , C.T. Abdallah . (2003) Robot manipulator control: theory and practice.
8. 8)
  - Zergeroglu, E., Dawson, D.M., Walker, I., Behal, A.: `Nonlinear tracking control of kinematically redundant robot manipulators', Proc. 2000 American Control Conf., 2000, 4, p. 2513–2517.
9. 9)
  - Cleary, K., Tesar, D.: `Incorporating multiple criteria in the operation of redundant manipulators', Proc. IEEE Int. Conf. on Robotics and Automation, May 1990, Cincinnati, Ohio, p. 618–624.
10. 10)
  - F. Lizarralde , J.T. Wen . Attitude control without angular velocity measurement: a passivity approach. IEEE Trans. Autom. Control , 468 - 472
11. 11)
  - G. Antonelli . (2003) Underwater robots: motion and force control of vehicle-manipulator systems.
12. 12)
  - Sarkar, N., Yuh, J., Podder, T.K.: `Adaptive control of underwater vehicle-manipulator systems subject to joint limits', Proc. IEEE/RJS Int. Conf. on Intelligent Robots and Systems, October 1999, Kyongju, Korea, 1, p. 142–147.
13. 13)
  - P. Hsu , J. Hauser , S. Sastry . Dynamic control of redundant manipulators. J. Robot. Syst. , 133 - 148
14. 14)
  - Hou, S.P., Cheah, C.C.: `Region tracking control for robot manipulators', IEEE Int. Conf. on Control Applications, 2007, Singapore, p. 1438–1443.
15. 15)
  - Cheah, C.C., Sun, Y.C.: `A region reaching control scheme for underwater vehicle-manipulator systems', Proc. IEEE Int. Conf. on Robotics and Automation, April 2007, Roma, Italy, p. 4576–4579.
16. 16)
  - G. Antonelli . On the use of adaptive/intergral actions for 6-degrees-of-freedom control of autonomous underwater vehicles. J. Ocean. Eng. , 2 , 300 - 312
17. 17)
  - Tarn, T.J., Yang, S.P.: `Modeling and control for underwater robotic manipulators – an example', Proc. IEEE Int. Conf. on Robotics and Automation, April 1997, Albuquerque, NM, p. 2166–2171.
18. 18)
  - Y.C. Sun , C.C. Cheah . Adaptive control schemes for autonomous underwater vehicle. Robotica , 119 - 129
19. 19)
  - E. Tatlicioglu , D. Braganza , T.C. Burg , D.M. Dawson . Adaptive control of redundant robot manipulators with sub-task objectives. Robotica , 873 - 881
20. 20)
  - T. Yoshikawa . (1990) Foundations of robotics: analysis and control.
21. 21)
  - R. Burkan , İ. Uzmay . Variable upper bounding approach for adaptive-robust control in robot control. J. Intel. Robot. Syst. , 427 - 442
22. 22)
  - T.F. Chan , R.V. Dubey . A weighted least-norm solution based scheme for avoiding joint limits for redundant manipulators. IEEE Trans. Robot. Autom. , 2 , 286 - 292
23. 23)
  - W.E. Dixon , A. Behal , D.M. Dawson , S. Nagarkatti . (2003) Nonlinear control of engineering systems: a Lyapunov-based approach.
24. 24)
  - Fossen, T.I.: `Adaptive macro-micro control of nonlinear underwater robotic systems', Fifth Int. Conf. on Advanced Robotics, June 1991, Pisa, Italy, 2, p. 1569–1572.
25. 25)
  - Schjølberg, I., Fossen, T.I.: `Modelling and control of underwater vehicle-manipulator systems', Proc. Third Conf. Marine Craft Manoeuvring and Control, 1994, Southampton, UK, p. 45–57.
26. 26)
  - Yamamoto, Y., Yun, X.: `Modeling and compensation of the dynamic interaction of a mobile manipulator', Proc. IEEE Conf. on Robotics and Automation, 1994, 1, p. 1–6.
27. 27)
  - L. Sciavicco , B. Siciliano , M.J. Grimble , M.A. Johnson . (2005) Modelling and control of robot manipulators, Advanced textbooks in control and signal processing.
28. 28)
  - Cheah, C.C., Wang, D.Q.: `Region reaching control of robots: theory and experiments', Proc. IEEE Int. Conf. on Robotics and Automation, 2005, Barcelona, Spain, p. 974–979.
29. 29)
  - T.I. Fossen . (1995) Guidance and control of ocean vehicles.

Tracking control scheme for an underwater vehicle-manipulator system with single and multiple sub-regions and sub-task objectives

Tracking control scheme for an underwater vehicle-manipulator system with single and multiple sub-regions and sub-task objectives

Buy article PDF

Buy Knowledge Pack

Thank you

References

Related content