Cooperative Control of Underwater Vehicle–Manipulator Systems Based on the SDC Method

Abstract

The paper considers the problem of cooperative control synthesis for a complex of underwater vehicle–manipulator systems (UVMS) to perform the work of moving a cargo along a given trajectory. Here, we used the approach based on the representation of nonlinear dynamics models in the form of state space with state-dependent coefficients (SDC-form). That allowed us to apply methods of suboptimal control with feedback based on the state-dependent differential Riccati equation (SDDRE) solution at a finite time interval, providing the change in control intensity with the transient effect of the system matrices in SDC form. The paper reveals two approaches to system implementation: a general controller for the whole system and a set of independent subcontrollers for UVMSs. The results of both approaches are similar; however, for the systems with a small number of manipulators, the common structure is recommended, and for the systems with a large number of manipulators, the approach with independent subcontrollers may be more acceptable. The proposed method of cooperative control was tested on the task of cooperative control for two UVMSs with six-link manipulators Orion 7R. The simulation results are presented in the article and show the effectiveness of the proposed method.

Autonomous Underwater Vehicle Navigation via Sensors Maximum-Ratio Combining in Absence of Bearing Angle Data

“…Maximum-ratio combining is the optimal fusion tool for independent channels with x 0 ∼ N (0, 0.05), R = diag{0.8; 0.8; 0.102; 0.15; 0.15; 0.15; 0.25; 0.25; 0.35; 0.14; 0.14; 0.14}. (37) It is assumed that a Doppler logger is used when fusing sensor information due to the small distance from the seafloor. It should also be noted that zero-order extrapolators with update frequencies, presented in the Table 6, are used to simulate the discrete nature of the measurement devices.…”

“…The studies [33,34] were used as a basis for mathematical modeling of the navigation system object dynamics (ANPA and buoys). Hydrodynamic parameters were determined using tabular data [35,36], and SDC-form [37] was used to represent all equations of dynamics and kinematics. The expressions presented in [38] were used to simulate the measurements of each sensor in the navigation system.…”

Estratégias modulares aplicadas ao controle de sistemas do tipo veículo-manipulador subaquático durante o transporte cooperativo.

“…Results reveal smaller errors and reduced energy consumption when the UUV and manipulator work cooperatively. Kabanov et al (2022) studied the cooperative transportation of a concentrated mass object by a team of UVMSs. The modeling was performed by coupling the individual models using the relationships between the end-effectors wrenches and those generated on the object.…”