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A Robust Force Control Approach for Underwater Vehicle Manipulator Systems
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-8696-1536
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
2017 (English)In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 11197-11202Article in journal (Refereed) Published
Abstract [en]

In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external disturbances (e.g. sea currents and waves) iii) imperfection and noises of measuring sensors iv) steady state performance as well as v) inferior overshoot of interaction force error, should be addressed during the force control design. Motivated by the above factors, this paper presents a model-free control protocol for force controlling of an Underwater Vehicle Manipulator System which is in contact with an unknown compliant environment, without incorporating any knowledge of the UVMS's dynamic model, exogenous disturbances and sensor's noise model. Moreover, the transient and steady state response as well as reduction of overshooting force error are solely determined by certain designer-specified performance functions and are fully decoupled by the UVMS's dynamic model, the control gain selection, as well as the initial conditions. Finally, a simulation study clarifies the proposed method and verifies its efficiency.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 50, no 1, p. 11197-11202
Keywords [en]
Autonomous Underwater Vehicle, Force Control, Marine Robotics, Robust Control, Underwater Vehicle Manipulator System
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223052DOI: 10.1016/j.ifacol.2017.08.1245ISI: 000423965100353Scopus ID: 2-s2.0-85031811018OAI: oai:DiVA.org:kth-223052DiVA, id: diva2:1182962
Note

QC 20180215

Available from: 2018-02-15 Created: 2018-02-15 Last updated: 2018-03-05Bibliographically approved

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Nikou, AlexandrosDimarogonas, Dimos V.

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