{"title":"A sub-region tracking control for an Underwater Vehicle-Manipulator System with a sub-task objective","authors":"Z. Ismail, M. Dunnigan","doi":"10.1109/OCEANSSYD.2010.5603813","DOIUrl":null,"url":null,"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.","PeriodicalId":129808,"journal":{"name":"OCEANS'10 IEEE SYDNEY","volume":"73 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"OCEANS'10 IEEE SYDNEY","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANSSYD.2010.5603813","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.