Digital RAC with a disturbance observer for underwater vehicle-manipulator systems

Sagara, Shinichi; Yatoh, Takashi; Shimozawa, Tomoaki

doi:10.1007/s10015-010-0806-7

Cited by 10 publications

(4 citation statements)

References 8 publications

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“…[1][2][3][4][5] However, there are only a few experimental studies. We have proposed a digital resolved acceleration control (RAC) method for UVMS, 6,7 and the effectiveness of this method has been demonstrated by using a fl oating underwater robot with a vertical planar 2-link manipulator.…”

Section: Introductionmentioning

confidence: 99%

A master-slave control system for a semi-autonomous underwater vehicle-manipulator system

Kawano

Shimozawa

Sagara

2012

Artif Life Robotics

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Section: Introductionmentioning

confidence: 99%

A master-slave control system for a semi-autonomous underwater vehicle-manipulator system

Kawano

Shimozawa

Sagara

2012

Artif Life Robotics

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“…Recently, many new control methods are proposed for AUVMS to achieve better control performance. [15][16][17][18] For example, Wang applied adaptive control to the AUVMS to overcome the uncertainties of kinematics and dynamics. 15 Hossein presented a time-delay control for AVUMS by fuzzy tuning of terminal sliding mode control.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy active disturbance rejection control design for autonomous underwater vehicle manipulators system

Wang

2020

Adv Control Appl

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In this article, a fuzzy active disturbance rejection controller (FADRC) is proposed for autonomous underwater vehicle manipulator system (AUVMS). First, the AUVMS is separated into nine subsystems. Then, for each subsystem, dynamic uncertainties, hydrodynamic forces, unknown disturbance, and nonlinear coupling effects are lumped into a total disturbance. Next, a linear extended state observer (LESO) and linear feedback control law are designed to estimate and compensate the total disturbance. The convergence and estimation error of the LESO are analyzed here to validate its performance. Then considering the control output in real industry are always limited, a saturated proportional-derivative (PD) controller is proposed, and close-loop stability of the controller can be ensured. Given the fact that there are many parameters to be scheduled in practical industrial applications, an FADRC is proposed to determine the parameters of the proposed LESO and saturated PD controller.The given fuzzy rules of the parameters' change of the saturated PD controller and bandwidths of LESO can be used in other FADRCs. In order to verify the effectiveness of the proposed method, two tasks are chosen to test the performance of trajectory tracking and the capability of rejecting and attenuating the total disturbance. Simulation shows that the proposed FADRC can achieve better performance and consume less energy than classic fuzzy logic controllers and linear active disturbance rejection controllers.

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“…Video signals from the LEDs are converted into position data by X-Y tracker and transmitted to PC for calculation of the positions and orientation of robot base. Robot control is achieved using resolved acceleration control (RAC) method with sampling period of T=1/60sec [1][2][3]. For experiments using the developed thrusters, the gain for rotational speed control are set as = 0.031, =0.0017.…”

Section: Rotational Speed Measurementmentioning

confidence: 99%

“…The main purpose of this research is to design a new underwater thruster for an underwater vehicle-manipulator system (UVMS) equipped with a 2-link manipulator which the authors have been actively carried out [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Development of a dual-shaft propeller thruster equipped with rotational speed sensor for UVMS control

Ambar

Sagara

Yamaguchi

2013

Artif Life Robotics

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Majority of underwater robots utilize single propeller thrusters for navigation. A disadvantage on using a single propeller thruster is the thrust force generated from a single propeller for reverse and forward thrust is asymmetric due to the disturbed flow caused by the thruster's body which may reduce thruster efficiency. Measurement procedures to precisely calculate propeller's rotation speed were also not available. To address these problems, this paper proposes a dual-shaft magnetic coupling driven propeller thruster for underwater vehicle-manipulator system (UVMS) equipped with sensors for measuring propeller's rotational speed. Numerical studies and experimental results on the position and orientation control of the proposed thruster are presented. Detail comparison of the rotational speed, thrust force and duty-ratio between numerical calculation and actual experimental measurement results shows the effectiveness of the proposed thruster. The ability to determine propeller rotation directions is also a major advantage.

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Digital RAC with a disturbance observer for underwater vehicle-manipulator systems

Cited by 10 publications

References 8 publications

A master-slave control system for a semi-autonomous underwater vehicle-manipulator system

A master-slave control system for a semi-autonomous underwater vehicle-manipulator system

Fuzzy active disturbance rejection control design for autonomous underwater vehicle manipulators system

Development of a dual-shaft propeller thruster equipped with rotational speed sensor for UVMS control

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