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A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-8696-1536
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-4289-2866
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2018 (English)In: AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings, Institute of Electrical and Electronics Engineers Inc. , 2018Conference paper, Published paper (Refereed)
Abstract [en]

Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention, due to the ability of interaction with underwater environments. In such applications, force/torque controllers which guarantee that the end-effector of the UVMS applies desired forces/torques towards the environment, should be designed in a way that state and input constraints are taken into consideration. Furthermore, due to their complicated structure, unmodeled dynamics as well as external disturbances may arise. Motivated by this, we proposed a robust Model Predicted Control Methodology (NMPC) methodology which can handle the aforementioned constraints in an efficient way and it guarantees that the end-effector is exerting the desired forces/torques towards the environment. Simulation results verify the validity of the proposed framework.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2018.
Keywords [en]
Autonomous vehicles, End effectors, Manipulators, Underwater equipment, Complicated structures, External disturbances, Interaction controls, Of autonomous underwater vehicles, Robotic manipulators, State and input constraints, Underwater environments, Underwater vehicle manipulator systems, Autonomous underwater vehicles
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-262457DOI: 10.1109/AUV.2018.8729801ISI: 000492901600099Scopus ID: 2-s2.0-85068322219ISBN: 9781728102535 (print)OAI: oai:DiVA.org:kth-262457DiVA, id: diva2:1362358
Conference
2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, 6-9 November 2018, Porto, Portugal
Note

QC 20191018

Available from: 2019-10-18 Created: 2019-10-18 Last updated: 2020-01-08Bibliographically approved

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Nikou, AlexandrosVerginis, ChristosDimarogonas, Dimos V.

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