Motion and force control with a nonlinear force error filter for underwater vehicle-manipulator systems

Taira, Yuichiro; Sagara, Shinichi; Oya, Masahiro

doi:10.1007/s10015-017-0400-3

Cited by 8 publications

(1 citation statement)

References 21 publications

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“…The I-AUV model is based on the Twin-Burger AUV equipped with a 2-DoFs manipulator with cylindrical-shaped links of stainless steel. This case of study is inspired by the works ofSagara (SAGARA et al, 2001;ISHITSUKA;ISHII, 2004;YATOH;TAMURA, 2008;SAGARA, 2009;TAIRA;OYA, 2018;TAIRA; OYA, 2020;AMBAR, 2020), who studied the motion control of I-AUVs using the Twin-Burger in some of them.…”

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

Oliveira

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The demand for natural resources (e.g., oil and gas, minerals, etc.), together with the high cost and operators fatigue associated with the classical teleoperation approach used by the offshore industry in Remotely Operated Vehicles (ROVs), brings the need for a higher degree of automation in the intervention tasks. To meet this requirement, the Underwater Vehicle-Manipulator Systems (UVMSs) are intended to be used in an autonomous way to perform Inspection, Maintenance and Repair (IMR) operations in the next fell years. Also, there is an increasing demand for alternative means of transportation in the underwater environment to assist in construction, deep-sea mining and general dexterous manipulation, which a single UVMS cannot perform. This work focuses on the motion control and coordination of UVMSs during cooperative transportation. Among the theoretical developments, the main contribution is the introduction of the Modular Control Methodology (MCM) for general multibody systems, whose potential engineering applications go beyond the class of problems that originally motivated this thesis. This novel methodology simplifies the control synthesis with a hierarchical approach, using standard controllers for the subsystems in the lowest levels of the control hierarchy and enforcing the constraints a posteriori. It also enables control allocation in the case of overactuation and optimal control synthesis. The MCM can also be used for coordination during cooperative transportation, since the prescribed formation can be treated as a set of constraints among the agents according to the established communication topology. The contributions made here are tested through numerical simulations in different scenarios.

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

Oliveira

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Model-based motion control for underwater vehicle-manipulator systems with one of the three types of servo subsystems

Taira

Sagara

Oya

2019

Artif Life Robotics

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Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system

Taira

Sagara

Oya

2021

Artif Life Robotics

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Motion and force control with a nonlinear force error filter for underwater vehicle-manipulator systems

Cited by 8 publications

References 21 publications

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

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

Model-based motion control for underwater vehicle-manipulator systems with one of the three types of servo subsystems

Motion and force control with a linear force error filter for the manipulator of an underwater vehicle-manipulator system

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