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A robust interaction control approach for underwater vehicle manipulator systems
Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Zografos 15780, Greece..
Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Zografos 15780, Greece..
Natl Tech Univ Athens, Dept Mech Engn, Control Syst Lab, 9 Heroon Polytech St, Zografos 15780, Greece..
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-8696-1536
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2018 (English)In: Annual Reviews in Control, ISSN 1367-5788, E-ISSN 1872-9088, Vol. 46, p. 315-325Article, review/survey (Refereed) Published
Abstract [en]

In underwater robotic interaction tasks (e.g., sampling of sea organisms, underwater welding, panel handling, etc) various issues regarding the uncertainties and complexity of the robot dynamic model, the external disturbances (e.g., sea currents), the steady state performance as well as the overshooting/undershooting of the interaction force error, should be addressed during the control design. Motivated by the aforementioned considerations, this paper presents a force/position tracking control protocol for an Underwater Vehicle Manipulator System (UVMS) in compliant contact with a planar surface, without incorporating any knowledge of the UVMS dynamic model, the exogenous disturbances or the contact stiffness model. Moreover, the proposed control framework guarantees: (i) certain predefined minimum speed of response, maximum steady state error as well as overshoot/undershoot concerning the force/position tracking errors, (ii) contact maintenance and (iii) bounded closed loop signals. Additionally, the achieved transient and steady state performance is solely determined by certain designer-specified performance functions/parameters and is fully decoupled from the control gain selection and the initial conditions. Finally, both simulation and experimental studies clarify the proposed method and verify its efficiency.

Place, publisher, year, edition, pages
Elsevier, 2018. Vol. 46, p. 315-325
Keywords [en]
Underwater vehicle manipulator systems, Nonlinear control, Autonomous underwater vehicles, Marine robotics, Force/position control, Robust control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-240790DOI: 10.1016/j.arcontrol.2018.10.003ISI: 000453618200021Scopus ID: 2-s2.0-85054423056OAI: oai:DiVA.org:kth-240790DiVA, id: diva2:1274851
Note

QC 20190103

Available from: 2019-01-03 Created: 2019-01-03 Last updated: 2019-08-20Bibliographically approved

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Nikou, AlexandrosDimarogonas, Dimos V.

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