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Автор: Grafiati

Опубліковано: 10 грудня 2022

Оновлено: 28 січня 2023

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1

Balabanov, Alexey, Anna Bezuglaya, and Evgeny Shushlyapin. "Underwater Robot Manipulator Control." Informatics and Automation 20, no. 6 (September 23, 2021): 1307–32. http://dx.doi.org/10.15622/ia.20.6.5.

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Анотація:

This paper deals with the problem of bringing the end effector (grip center) of an underwater vehicle anthropomorphic manipulator to a predetermined position in a given time using the terminal state method. A dynamic model with the account of joint drives dynamics is formulated on the basis of obtained kinematic model constructed by using the Denavit-Hartenberg method (DH model). The DH model is used in a terminal nonlinear criterion that displays estimate of the proximity of the effector's orientation and position to the specified values. The dynamic model is adapted for effective application of the author's terminal state method (TSM) so that it forms a system of differential equations for the rotation angles of manipulator links around the longitudinal and transverse axes, having only desired TSM-controls in the right parts. The converted model provides simplifications of controls calculation by eliminating the numerical solution of special differential equations, that is needed in the case of using in TSM nonlinear dynamic models in general form. The found TSM-controls are further used in expressions for control actions on joints electric drives obtained on the basis of electric drives dynamic models. Unknown drives parameters as functions of links rotation angles or other unknown factors, are proposed to be determined experimentally. Such two-step procedure allowed to get drive control in the form of algebraic and transcendental expressions. Finally, by applying the developed software, simulation results of the manipulator end effector moving to the specified positions on the edge of the working area are presented. The resulting error (without accounting measurement error) does not exceed 2 centimeters at the 1.2 meters distance by arm reaching maximum of length ability. The work was performed under the Federal program of developing a robotic device for underwater research in shallow depths (up to 10 meters).

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2

Antonelli, G., S. Chiaverini, and N. Sarkar. "External force control for underwater vehicle-manipulator systems." IEEE Transactions on Robotics and Automation 17, no. 6 (2001): 931–38. http://dx.doi.org/10.1109/70.976027.

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3

Antonelli, Gianluca, Nilanjan Sarkar, and Stefano Chiaverini. "Explicit force control for underwater vehicle-manipulator systems." Robotica 20, no. 3 (May 2002): 251–60. http://dx.doi.org/10.1017/s0263574702004198.

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Анотація:

In this paper two explicit force control schemes for underwater vehicle-manipulator systems are presented. The schemes take into account several factors such as uncertainty in the model knowledge, presence of hydrodynamic effects, kinematic redundancy of the system, and poor performance of vehicle's actuation system. The possible occurrence of loss of contact due to vehicle's movement during the task is also considered, and the adoption of an adaptive motion control scheme is investigated to take advantage of dynamic compensation. The proposed control schemes have extensively been tested in numerical simulation runs; the results obtained in a case study are reported to illustrate their performance.

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4

Xu, Bin, Shunmugham R. Pandian, Norimitsu Sakagami, and Fred Petry. "Neuro-fuzzy control of underwater vehicle-manipulator systems." Journal of the Franklin Institute 349, no. 3 (April 2012): 1125–38. http://dx.doi.org/10.1016/j.jfranklin.2012.01.003.

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5

Cui, Yong, and Nilanjan Sarkar. "A unified force control approach to autonomous underwater manipulation." Robotica 19, no. 3 (April 25, 2001): 255–66. http://dx.doi.org/10.1017/s026357470000309x.

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Анотація:

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.

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6

Soylu, Serdar, Bradley J. Buckham, and Ron P. Podhorodeski. "USING ARTICULATED BODY ALGORITHM WITHIN SLIDING-MODE CONTROL TO COMPENSATE DYNAMIC COUPLING IN UNDERWATER-MANIPULATOR SYSTEMS." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 629–43. http://dx.doi.org/10.1139/tcsme-2005-0041.

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Анотація:

A control scheme is presented for compensating dynamic coupling between an underwater robotic vehicle (URV) and a manipulator. During task execution the torques commanded at the manipulator joints lead to reactions at the junction point of the manipulator and vehicle. These reactions disturb the vehicle position and orientation and are the source of the vehicle-manipulator coupling. In many underwater robotic vehicle-manipulator (URVM) applications, the URV serves as a base while the manipulator performs a required task. Therefore, it is necessary to hold the URV as stationary as possible. In the current work, Slotine’s sliding mode control approach is used to compensate the dynamic effect of the underwater manipulator on the URV. The articulated body (AB) algorithm is used both for the time-domain simulation of the system and for the dynamic equations within the model-based sliding-mode controller. The AB algorithm is preferred for the time-domain system simulation, as it provides a computationally efficient simulation scheme. Finally, a three DOF manipulator mounted on a URV is considered, and results of time-domain numerical simulations of the proposed control scheme are presented.

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7

Wei, Yanhui, Zhi Zheng, Qiangqiang Li, Zhilong Jiang, and Pengfei Yang. "Robust tracking control of an underwater vehicle and manipulator system based on double closed-loop integral sliding mode." International Journal of Advanced Robotic Systems 17, no. 4 (July 1, 2020): 172988142094177. http://dx.doi.org/10.1177/1729881420941778.

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Анотація:

A nonlinear robust control method for the trajectory tracking of the underwater vehicle and manipulator system that operates in the presence of external current disturbances is proposed using double closed-loop integral sliding mode control. The designed controller uses a double closed-loop control structure to track the desired trajectory in the joint space of the underwater vehicle and manipulator system, and its inner and outer loop systems use integral sliding surface to enhance the robustness of the whole system. Then, the continuous switching mode based on hyperbolic tangent function is used instead of the traditional discontinuous switching mode to reduce the chattering of the control input of the underwater vehicle and manipulator system. In addition, the control method proposed in this article does not need to estimate the uncertainties of the underwater vehicle and manipulator system control system through online identification, but also can ensure the robustness of the underwater vehicle and manipulator system motion control in underwater environment. Therefore, it is easier to be implemented on the embedded platform of the underwater vehicle and manipulator system and applied to the actual marine operation tasks. At last, the stability of the control system is proved by the Lyapunov theory, and its effectiveness and feasibility are verified by the simulation experiments in MATLAB software.

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8

Kabanov, Aleksey, Vadim Kramar, Ivan Lipko, and Kirill Dementiev. "Cooperative Control of Underwater Vehicle–Manipulator Systems Based on the SDC Method." Sensors 22, no. 13 (July 4, 2022): 5038. http://dx.doi.org/10.3390/s22135038.

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Анотація:

The paper considers the problem of cooperative control synthesis for a complex of N underwater vehicle–manipulator systems (UVMS) to perform the work of moving a cargo along a given trajectory. Here, we used the approach based on the representation of nonlinear dynamics models in the form of state space with state-dependent coefficients (SDC-form). That allowed us to apply methods of suboptimal control with feedback based on the state-dependent differential Riccati equation (SDDRE) solution at a finite time interval, providing the change in control intensity with the transient effect of the system matrices in SDC form. The paper reveals two approaches to system implementation: a general controller for the whole system and a set of N independent subcontrollers for UVMSs. The results of both approaches are similar; however, for the systems with a small number of manipulators, the common structure is recommended, and for the systems with a large number of manipulators, the approach with independent subcontrollers may be more acceptable. The proposed method of cooperative control was tested on the task of cooperative control for two UVMSs with six-link manipulators Orion 7R. The simulation results are presented in the article and show the effectiveness of the proposed method.

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9

Lapierre, Lionel, Philippe Fraisse, and Pierre Dauchez. "Position/Force Control of an Underwater Mobile Manipulator." Journal of Robotic Systems 20, no. 12 (December 2003): 707–22. http://dx.doi.org/10.1002/rob.10119.

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10

Филаретов, В. Ф., А. Ю. Коноплин, А. В. Зуев, and Н. А. Красавин. "SYNTHESIS METHOD OF SYSTEMS FOR HIGH-PRECISION MOVEMENTS CONTROL OF UNDERWATER MANIPULATORS." Podvodnye issledovaniia i robototehnika, no. 4(34) (January 24, 2020): 31–37. http://dx.doi.org/10.37102/24094609.2020.34.4.004.

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Анотація:

Представлена разработка метода синтеза комбинированных систем, обеспечивающих высокоточное управление перемещениями рабочих органов многозвенных манипуляторов, установленных на подводных аппаратах. Предложенный метод позволяет точно идентифицировать негативные моментные воздействия на выходные валы электроприводов манипуляторов, возникающие при их перемещениях в вязкой среде, а также моменты сухого и вязкого трений в этих приводах. При использовании этого метода вначале с помощью рекуррентного алгоритма решения обратной задачи динамики выполняется предварительный аналитический расчет внешних моментов, возникающих во всех степенях подвижности движущегося подводного манипулятора. Этот расчет является весьма приближенным вследствие сложности определения параметров реального взаимодействия с водной средой всех звеньев манипулятора и захваченного груза. Поэтому далее с использованием динамических моделей электроприводов каждой степени подвижности, включающих аналитически рассчитанные внешние моменты, строятся дополнительные диагностические наблюдатели. Эти наблюдатели с помощью формируемых ими невязок точнее определяют величины непредвиденных изменений моментов вязкого и сухого трения в самих электроприводах. Затем идентифицированные моментные воздействия на электроприводы всех степеней подвижности манипулятора точно компенсируются с помощью самонастраивающихся корректирующих устройств, обеспечивающих стабилизацию динамических свойств этих приводов на номинальном уровне. Выполнено численное моделирование системы, синтезированной с помощью разработанного метода для многозвенного манипулятора с кинематической схемой PUMA, рабочий орган которого перемещался по сложным пространственным траекториям. Результаты численного моделирования показали многократное повышение точности выполнения подводными манипуляторами различных технологических операций при использовании синтезированной системы. The paper presents a synthesis method of combined systems providing high-precision movements control of multilink manipulator arm tool mounted on underwater vehicles. The proposed method allows precise identification of negative torques on the output shaft of the manipulator electric drives that emerged during its motion in a viscous medium and moments of coulomb and viscous friction in these drives. This method begins with a preliminary analytical calculation of external moments appearing in underwater manipulator axes of motion by the recurrent algorithm of solving the inverse dynamic problem. This calculation is highly coarse due to the complexity of determining parameters of the real interaction between all links of the manipulator, engaged load, and seawater medium. Additional diagnostic observers are then synthesized using dynamic models of electric drives of every axis of freedom, including analytically determined external moments. These observers can more precisely determine the values of unpredicted changes of the viscous and coulomb friction moments in drives itself using formed discrepancy signals. Then identified torques on the electric drives of all manipulator axes are compensated using self-regulated correcting devices capable of stabilizing these drives' dynamic properties on the nominal level. The paper contains numerical modeling of the system synthesized by a developed method for a multilink manipulator with a PUMA kinematic scheme, an arm tool of which was moved alongside a complex three-dimensional trajectory. The numerical modeling results showed a significant increase in the accuracy of different technological operations performed by underwater manipulators using a synthesized system.

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11

Barbalata, Corina, Matthew Dunnigan, and Yvan Petillot. "Coupled and Decoupled Force/Motion Controllers for an Underwater Vehicle-Manipulator System." Journal of Marine Science and Engineering 6, no. 3 (August 21, 2018): 96. http://dx.doi.org/10.3390/jmse6030096.

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Autonomous interaction with the underwater environment has increased the interest of scientists in the study of control structures for lightweight underwater vehicle-manipulator systems. This paper presents an essential comparison between two different strategies of designing control laws for a lightweight underwater vehicle-manipulator system. The first strategy aims to separately control the vehicle and the manipulator and hereafter is referred to as the decoupled approach. The second method, the coupled approach, proposes to control the system at the operational space level, treating the lightweight underwater vehicle-manipulator system as a single system. Both strategies use a parallel position/force control structure with sliding mode controllers and incorporate the mathematical model of the system. It is demonstrated that both methods are able to handle this highly non-linear system and compensate for the coupling effects between the vehicle and the manipulator. The results demonstrate the validity of the two different control strategies when the goal is located at various positions, as well as the reliable behaviour of the system when different environment stiffnesses are considered.

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12

Schjølberg, Ingrid, and Olav Egeland. "Motion Control of underwater vehicle-manipulator systems using feedback linearization." Modeling, Identification and Control: A Norwegian Research Bulletin 17, no. 1 (1996): 17–26. http://dx.doi.org/10.4173/mic.1996.1.2.

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13

Antonelli, G., F. Caccavale, S. Chiaverini, and L. Villani. "Tracking control for underwater vehicle-manipulator systems with velocity estimation." IEEE Journal of Oceanic Engineering 25, no. 3 (July 2000): 399–413. http://dx.doi.org/10.1109/48.855403.

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14

Heshmati-Alamdari, Shahab, Charalampos P. Bechlioulis, George C. Karras, Alexandros Nikou, Dimos V. Dimarogonas, and Kostas J. Kyriakopoulos. "A robust interaction control approach for underwater vehicle manipulator systems." Annual Reviews in Control 46 (2018): 315–25. http://dx.doi.org/10.1016/j.arcontrol.2018.10.003.

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15

Schjølberg, Ingrid, and Olav Egeland. "Motion Control of Underwater Vehicle-Manipulator Systems Using Feedback Linearization." IFAC Proceedings Volumes 28, no. 2 (May 1995): 54–59. http://dx.doi.org/10.1016/s1474-6670(17)51651-1.

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16

Gao, Zhijun, Chunlin Zhou, Qi Zhu, and Yanfeng Qiu. "Model reference sliding mode control of underwater vehicle-manipulator systems." Journal of Physics: Conference Series 1074 (September 2018): 012023. http://dx.doi.org/10.1088/1742-6596/1074/1/012023.

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17

Iversflaten, Markus H., Aurora Haraldsen, and Kristin Y. Pettersen. "Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems." IFAC-PapersOnLine 55, no. 31 (2022): 110–17. http://dx.doi.org/10.1016/j.ifacol.2022.10.417.

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18

Han, Han, Yanhui Wei, Xiufen Ye, and Wenzhi Liu. "Motion Planning and Coordinated Control of Underwater Vehicle-Manipulator Systems with Inertial Delay Control and Fuzzy Compensator." Applied Sciences 10, no. 11 (June 5, 2020): 3944. http://dx.doi.org/10.3390/app10113944.

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Анотація:

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.

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19

Wang, Tong, Zihao You, Wei Song, and Shiqiang Zhu. "Dynamic Analysis of an Underwater Cable-Driven Manipulator with a Fluid-Power Buoyancy Regulation System." Micromachines 11, no. 12 (November 26, 2020): 1042. http://dx.doi.org/10.3390/mi11121042.

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This article presents an underwater cable-driven manipulator (UCDM) with a buoyancy regulation system (BRS), which is controlled by a fluid-power system. The manipulator consists of five sections, and each section is embedded with a buoyancy adjustment unit. By regulating buoyancy at each section, the static and dynamic states of the manipulator will be changed, promising a new operating mode of an underwater manipulator driven by buoyancy. In this article, a dynamic model of the manipulator is established by the Newton-Euler equation, considering cable tension, inter-joint force, buoyancy, water resistance and other variables. With a numerical method, the dynamic model is solved and the values of cable tension are obtained, which are used to evaluate the buoyancy-driven operating mode of underwater manipulator. This research will be useful for manipulator operating in fluid environments, such as underwater manipulator in the ocean, micro-manipulator in a blood vessel, and so on.

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20

Cetin, Kamil, Harun Tugal, Yvan Petillot, Matthew Dunnigan, Leonard Newbrook, and Mustafa Suphi Erden. "A Robotic Experimental Setup with a Stewart Platform to Emulate Underwater Vehicle-Manipulator Systems." Sensors 22, no. 15 (August 4, 2022): 5827. http://dx.doi.org/10.3390/s22155827.

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This study presents an experimental robotic setup with a Stewart platform and a robot manipulator to emulate an underwater vehicle–manipulator system (UVMS). This hardware-based emulator setup consists of a KUKA IIWA14 robotic manipulator mounted on a parallel manipulator, known as Stewart Platform, and a force/torque sensor attached to the end-effector of the robotic arm interacting with a pipe. In this setup, we use realistic underwater vehicle movements either communicated to a system in real-time through 4G routers or recorded in advance in a water tank environment. In addition, we simulate both the water current impact on vehicle movement and dynamic coupling effects between the vehicle and manipulator in a Gazebo-based software simulator and transfer these to the physical robotic experimental setup. Such a complete setup is useful to study the control techniques to be applied on the underwater robotic systems in a dry lab environment and allows us to carry out fast and numerous experiments, circumventing the difficulties with performing similar experiments and data collection with actual underwater vehicles in water tanks. Exemplary controller development studies are carried out for contact management of the UVMS using the experimental setup.

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21

Yang, Bin, Yuqing He, Jianda Han, and Guangjun Liu. "Rotor-Flying Manipulator: Modeling, Analysis, and Control." Mathematical Problems in Engineering 2014 (2014): 1–13. http://dx.doi.org/10.1155/2014/492965.

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Анотація:

Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR) is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM), are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR) controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance.

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22

Xue, Fufeng, and Zhimin Fan. "Kinematic control of a cable-driven snake-like manipulator for deep-water based on fuzzy PID controller." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 236, no. 5 (December 14, 2021): 989–98. http://dx.doi.org/10.1177/09596518211064794.

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Анотація:

The traditional deep-water manipulators have several problems to work in confined spaces, such as large volume, complex structure, and inability. To solve these problems, a novel cable-driven snake-like manipulator robot for deep-water is proposed. In this study, the structure design of the cable-driven snake-like manipulator robot is first introduced. Then, we establish the kinematics model of the proposed cable-driven snake-like manipulator robot, which includes three parts: motor-cable kinematics, cable-joint kinematics, and joint-end kinematics. Especially, a tip-following algorithm (Supplemental Material) is presented to fit the confined and complicated underwater scenarios. Furthermore, a kinematics control strategy based on fuzzy PID controller is presented to reduce the tracking error caused by transmission mechanism, and the simulation of the cable-driven snake-like manipulator is carried out based on the MATLAB. The results demonstrate that the tracking error is less than 0.04 mm, which shows the proposed control strategy is effective.

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23

Zongyu, CHANG, ZHANG Yang, ZHENG Fangyuan, ZHENG Zhongqiang, and WANG Jiliang. "Research Progress of Underwater Vehicle-manipulator Systems: Configuration, Modeling and Control." Journal of Mechanical Engineering 56, no. 19 (2020): 53. http://dx.doi.org/10.3901/jme.2020.19.053.

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24

Oliveira, Éverton L., Renato M. M. Orsino, and Décio C. Donha. "Disturbance-Observer-Based Model Predictive Control of Underwater Vehicle Manipulator Systems." IFAC-PapersOnLine 54, no. 16 (2021): 348–55. http://dx.doi.org/10.1016/j.ifacol.2021.10.115.

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25

SAKAGAMI, Norimitsu. "1P1-D10 Attitude control of Underwater Vehicle-Manipulator Systems Using Iterative Learning Control." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (2010): _1P1—D10_1—_1P1—D10_4. http://dx.doi.org/10.1299/jsmermd.2010._1p1-d10_1.

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26

Borlaug, I. L. G., J. Sverdrup-Thygeson, K. Y. Pettersen, and J. T. Gravdahl. "Combined kinematic and dynamic control of an underwater swimming manipulator." IFAC-PapersOnLine 52, no. 21 (2019): 8–13. http://dx.doi.org/10.1016/j.ifacol.2019.12.275.

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27

Dunnigan, M. W., A. C. Clegg, I. Edwards, and D. M. Lane. "Hybrid position/force control of a hydraulic underwater manipulator." IEE Proceedings - Control Theory and Applications 143, no. 2 (March 1, 1996): 145–51. http://dx.doi.org/10.1049/ip-cta:19960274.

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28

Youakim, Dina, and Pere Ridao. "Motion planning survey for autonomous mobile manipulators underwater manipulator case study." Robotics and Autonomous Systems 107 (September 2018): 20–44. http://dx.doi.org/10.1016/j.robot.2018.05.006.

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29

An, Ruochen, Shuxiang Guo, Yuanhua Yu, Chunying Li, and Tendeng Awa. "Multiple Bio-Inspired Father–Son Underwater Robot for Underwater Target Object Acquisition and Identification." Micromachines 13, no. 1 (December 26, 2021): 25. http://dx.doi.org/10.3390/mi13010025.

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Анотація:

Underwater target acquisition and identification performed by manipulators having broad application prospects and value in the field of marine development. Conventional manipulators are too heavy to be used for small target objects and unsuitable for shallow sea working. In this paper, a bio-inspired Father–Son Underwater Robot System (FURS) is designed for underwater target object image acquisition and identification. Our spherical underwater robot (SUR), as the father underwater robot of the FURS, has the ability of strong dynamic balance and good maneuverability, can realize approach the target area quickly, and then cruise and surround the target object. A coiling mechanism was installed on SUR for the recycling and release of the son underwater robot. A Salamandra-inspired son underwater robot is used as the manipulator of the FURS, which is connected to the spherical underwater robot by a tether. The son underwater robot has multiple degrees of freedom and realizes both swimming and walking movement modes. The son underwater robot can move to underwater target objects. The vision system is installed to enable the FURS to acquire the image information of the target object with the aid of the camera, and also to identify the target object. Finally, verification experiments are conducted in an indoor water tank and outdoor swimming pool conditions to verify the effectiveness of the proposed in this paper.

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30

Filaretov, V. F., A. Y. Konoplin, A. V. Zuev, and N. A. Krasavin. "A Method to Synthesize High-Precision Motion Control Systems for Underwater Manipulator." International Journal of Simulation Modelling 20, no. 4 (December 15, 2021): 625–36. http://dx.doi.org/10.2507/ijsimm20-4-571.

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31

Antonelli, G., F. Caccavale, S. Chiaverini, and L. Villani. "Control of Underwater Vehicle-Manipulator Systems Using Only Position and Orientation Measurements." IFAC Proceedings Volumes 33, no. 27 (September 2000): 501–6. http://dx.doi.org/10.1016/s1474-6670(17)37979-x.

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32

Taira, Yuichiro, Masahiro Oya, and Shinichi Sagara. "Adaptive control of underwater vehicle-manipulator systems using radial basis function networks." Artificial Life and Robotics 17, no. 1 (July 14, 2012): 123–29. http://dx.doi.org/10.1007/s10015-012-0023-7.

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33

Korkmaz, Ozan, S. Kemal Ider, and M. Kemal Ozgoren. "Trajectory Tracking Control of an Underactuated Underwater Vehicle Redundant Manipulator System." Asian Journal of Control 18, no. 5 (April 1, 2016): 1593–607. http://dx.doi.org/10.1002/asjc.1291.

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34

Lin, Chen-Chou, Rong-Che Chen, and Tsuen-Liang Li. "Experimental determination of the hydrodynamic coefficients of an underwater manipulator." Journal of Robotic Systems 16, no. 6 (June 1999): 329–38. http://dx.doi.org/10.1002/(sici)1097-4563(199906)16:6<329::aid-rob2>3.0.co;2-5.

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35

Canudas de Wit, C., O. Olguin Diaz, and M. Perrier. "Nonlinear control of an underwater vehicle/manipulator with composite dynamics." IEEE Transactions on Control Systems Technology 8, no. 6 (2000): 948–60. http://dx.doi.org/10.1109/87.880599.

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36

Sun, Y. C., and C. C. Cheah. "Region-reaching control for underwater vehicle with onboard manipulator." IET Control Theory & Applications 2, no. 9 (September 1, 2008): 819–28. http://dx.doi.org/10.1049/iet-cta:20070072.

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37

Gümüşel, Levent, and Nurhan Gürsel Özmen. "Modelling and control of manipulators with flexible links working on land and underwater environments." Robotica 29, no. 3 (July 21, 2010): 461–70. http://dx.doi.org/10.1017/s0263574710000305.

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SUMMARYIn this study, modelling and control of a two-link robot manipulator whose first link is rigid and the second one is flexible is considered for both land and underwater conditions. Governing equations of the systems are derived from Hamilton's Principle and differential eigenvalue problem. A computer program is developed to solve non-linear ordinary differential equations defining the system dynamics by using Runge–Kutta algorithm. The response of the system is evaluated and compared by applying classical control methods; proportional control and proportional + derivative (PD) control and an intelligent technique; integral augmented fuzzy control method. Modelling of drag torques applied to the manipulators moving horizontally under the water is presented. The study confirmed the success of the proposed integral augmented fuzzy control laws as well as classical control methods to drive flexible robots in a wide range of working envelope without overshoot compared to the classical controls.

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38

Xue, Fufeng, and Zhimin Fan. "Kinematics and control of a cable-driven snake-like manipulator for underwater application." Mechanical Sciences 13, no. 1 (June 7, 2022): 495–504. http://dx.doi.org/10.5194/ms-13-495-2022.

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Abstract. In view of the large volume, complex structure, and poor performance of traditional underwater manipulators in some complicated underwater scenarios, a cable-driven snake-like manipulator (CDSLM) is proposed. In this paper, the kinematics model of the proposed CDSLM is firstly established, which can be decomposed into three parts: motor–cable kinematics, cable–joint kinematics, and joint–end kinematics. A tip-following algorithm is then presented to weave through the confined and hazardous spaces along a defined path with high efficiency. The main merit of the algorithm is that only the terminal section variables need to be calculated and recorded, which solves the problem of expensive computational cost for the inverse kinematics of snake-like manipulators. Finally, evaluation indexes of the path-following performance are proposed to evaluate the effect of the tip-following algorithm. Simulations of the path-tracking performance are carried out using MATLAB. The results demonstrate that the average computation time is about 1.6 ms, with a deviation of less than 0.8 mm from the desired path, and the stability and effectiveness of the tip-following algorithm are verified.

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39

Wang, Yaoyao, Bai Chen, and Hongtao Wu. "Joint space tracking control of underwater vehicle-manipulator systems using continuous nonsingular fast terminal sliding mode." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 232, no. 4 (November 21, 2017): 448–58. http://dx.doi.org/10.1177/1475090217742241.

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To ensure satisfactory control performance for the underwater vehicle-manipulator systems, a novel continuous nonsingular fast terminal sliding mode controller is proposed and investigated using time delay estimation in this article. Complex lumped unknown dynamics including the strong nonlinear couplings and external disturbance are properly compensated with time delay estimation, which are mainly based on the time-delayed signals of underwater vehicle-manipulator systems and can provide with a fascinating model-free feature. Afterwards, the satisfactory tracking control performance and good robustness under heavy lumped uncertainties are ensured using the continuous nonsingular fast terminal sliding mode term with a fast terminal sliding mode–type reaching law. Therefore, the proposed controller is easy to use thanks to time delay estimation, and can ensure good control performance owing to continuous nonsingular fast terminal sliding mode. Stability of the closed-loop control system is analyzed using Lyapunov stability theory, and theoretical tracking errors are calculated and presented. Finally, the effectiveness and advantages of the proposed controller are demonstrated through comparative 7-degree-of-freedom pool experiments.

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40

Fridman, E., L. Fridman, and E. Shustin. "Steady Modes in Relay Control Systems With Time Delay and Periodic Disturbances." Journal of Dynamic Systems, Measurement, and Control 122, no. 4 (February 18, 2000): 732–37. http://dx.doi.org/10.1115/1.1320443.

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We study stability of slow oscillatory motions in first order one- and two-dimensional systems with delayed relay control element and periodic disturbances, which serve as models of stabilization of the fingers of an underwater manipulator and of control of fuel injectors in automobile engines. Various types of stability observed are used to design a direct adaptive control of relay type with time delay that extinguishes parasite auto-oscillations in these models. [S0022-0434(00)04004-1]

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41

Olguin-Diaz, Ernesto, Gustavo Arechavaleta, Gerardo Jarquin, and Vicente Parra-Vega. "A Passivity-Based Model-Free Force–Motion Control of Underwater Vehicle-Manipulator Systems." IEEE Transactions on Robotics 29, no. 6 (December 2013): 1469–84. http://dx.doi.org/10.1109/tro.2013.2277535.

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42

Antonelli, G., and S. Chiaverini. "Fuzzy redundancy resolution and motion coordination for underwater vehicle-manipulator systems." IEEE Transactions on Fuzzy Systems 11, no. 1 (February 2003): 109–20. http://dx.doi.org/10.1109/tfuzz.2002.806321.

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43

Antonelli, G., and S. Chiaverini. "Fuzzy redundancy resolution and motion coordination for underwater vehicle-manipulator systems." IEEE Transactions on Fuzzy Systems 11, no. 2 (April 2003): 281. http://dx.doi.org/10.1109/tfuzz.2003.811411.

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44

Antonelli, Gianluca, and Stefano Chiaverini. "A fuzzy approach to redundancy resolution for underwater vehicle-manipulator systems." Control Engineering Practice 11, no. 4 (April 2003): 445–52. http://dx.doi.org/10.1016/s0967-0661(02)00319-2.

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45

Cobos-Guzman, Salvador, Jorge Torres, and Rogelio Lozano. "Design of an underwater robot manipulator for a telerobotic system." Robotica 31, no. 6 (March 27, 2013): 945–53. http://dx.doi.org/10.1017/s0263574713000234.

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SUMMARYThis paper describes a telerobotic system used for manipulation tasks in underwater environments. The telerobotic system is composed of a robotic arm of 3 degrees of freedom. This robotic arm has been designed to support corrosion environments such as seawater or freshwater. The prototype is designed to support several types of perturbations such as ocean currents and high pressures. The main objective is to efficiently control a teleoperation task considering common perturbations present in deep water. Finally, this paper presents the design, modelling and experiments of the underwater telerobotic system.

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46

Oliveira, Éverton L. de, Gabriel S. Belém, Rodrigo M. Morais, and Décio C. Donha. "Evaluation of Dynamic Coupling Intensity and Passive Attitude Control of Underwater Vehicle-Manipulator Systems." IFAC-PapersOnLine 54, no. 16 (2021): 356–63. http://dx.doi.org/10.1016/j.ifacol.2021.10.116.

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47

Esfahani, Hossein Nejatbakhsh. "Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator." Polish Maritime Research 26, no. 2 (June 1, 2019): 104–14. http://dx.doi.org/10.2478/pomr-2019-0030.

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Abstract This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to track desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performance can be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPC as a known proficient nonlinear control approach should be improved by the uncertainty estimator and disturbance compensator particularly in high nonlinear circumstances such as underwater environment in which operation of the UVMS is extremely impressed by added nonlinear terms to its model. In this research, a new methodology is proposed to promote robustness virtue of MPC that is done by designing a fuzzy compensator based on the uncertainty and disturbance estimation in order to reduce or even omit undesired effects of these perturbations. The proposed control design is compared with conventional MPC control approach to confirm the superiority of the proposed approach in terms of robustness against uncertainties, guaranteed stability and precision.

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48

Antonelli, G., F. Caccavale, and S. Chiaverini. "Adaptive Tracking Control of Underwater Vehicle-Manipulator Systems Based on the Virtual Decomposition Approach." IEEE Transactions on Robotics and Automation 20, no. 3 (June 2004): 594–602. http://dx.doi.org/10.1109/tra.2004.825521.

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49

Podder, Tarun Kanti, and Nilanjan Sarkar. "A unified dynamics-based motion planning algorithm for autonomous underwater vehicle-manipulator systems (UVMS)." Robotica 22, no. 1 (January 2004): 117–28. http://dx.doi.org/10.1017/s0263574703005368.

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A new unified motion planning algorithm for autonomous Underwater Vehicle-Manipulator Systems (UVMS) has been presented in this paper. Commonly, a UVMS consists of two sub-systems, a vehicle and a manipulator, having vastly different dynamic responses. The proposed algorithm considers the variability in dynamic bandwidth of the complex UVMS system and generates not only kinematically admissible but also dynamically feasible reference trajectories. Additionally, this motion planning algorithm exploits the inherent kinematic redundancy of the whole system and provides reference trajectories that accommodates other important criteria such as thruster/actuator faults and saturations, and also minimizes hydrodynamic drag. Effectiveness of the proposed unified motion planning algorithm has been verified by extensive computer simulation. The results are quite promising.

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50

Choi, Hyeung-Sik. "Robust control of robot manipulators with torque saturation using fuzzy logic." Robotica 19, no. 6 (September 2001): 631–39. http://dx.doi.org/10.1017/s0263574701003368.

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Robot manipulators, which are nonlinear structures and have uncertain system parameters, are complex dynamically when operated in an unknown environment. To compensate for estimate errors of the uncertain system parameters and to accomplish the desired trajectory tracking, nonlinear robust controllers are appropriate. However, when estimation errors or tracking errors are large, they require large input torques, which may not be satisfied due to torque limits of actuators such as driving motors. As a result, their stability cannot be guaranteed. In this paper, a new robust control scheme is presented to solve stability problems and to achieve fast trajectory tracking of uncertain robot manipulators in the presence of torque limits. By using fuzzy logic, new desired trajectories which can be reduced are generated based on the initial desired trajectory, and torques of the robust controller are regulated so as to not exceed torque limits. Numerical examples are shown to validate the proposed controller using an uncertain two degree-of-freedom underwater robot manipulator.

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