A sub-region tracking control for an Underwater Vehicle-Manipulator System with a sub-task objective

Z. Ismail, M. Dunnigan
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引用次数: 3

Abstract

In this paper, a sub-region tracking control scheme is proposed for an Underwater Vehicle-Manipulator System (UVMS). In the proposed controller, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. The unit quaternion representation is utilized to achieve singularity-free attitude tracking control. In addition, due to the kinematically redundant system, the controller also enables the use of self motion of the system to perform sub-tasks (drag minimization, obstacle avoidance, manipulability and avoidance of mechanical joint limits). 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 controller has been designed based on a Lyapunov type approach. Results from simulations are presented to demonstrate the benefits of the proposed control law.
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具有子任务目标的水下机器人-机械臂系统的子区域跟踪控制
针对水下机器人-机械臂系统(UVMS),提出了一种子区域跟踪控制方案。在该控制器中,UVMS的主要任务被指定为两个子区域,分别分配给车辆和末端执行器。利用单位四元数表示实现无奇异姿态跟踪控制。此外,由于运动学冗余系统,控制器还可以利用系统的自运动来执行子任务(阻力最小化,避障,可操作性和避免机械关节限制)。尽管水下动力学模型存在参数不确定性,但该控制器在不影响子区域和姿态跟踪控制目标的前提下保证了子任务跟踪。该控制器是基于李亚普诺夫型方法设计的。仿真结果验证了所提控制律的有效性。
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