Reference Model for High Performance and Low Energy Consumption Motions

Fernandes, Daniel de Almeida; Dukan, Fredrik; Sørensen, Asgeir J.

doi:10.3182/20120410-3-pt-4028.00036

Cited by 7 publications

(7 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The shapes of the synthesised references keep much resemblance with those considered better in Kumar et al (2005). The present work is an extension of that reported in Fernandes et al (2012). The computer code of the RM has been improved.…”

Section: Introductionsupporting

confidence: 51%

“…The four DoF MCS used to carry out the experiments was that reported in Sørensen et al (2012), with the guidance subsystem running the algorithm of the basic version of the RM reported in Fernandes et al (2012). The MCS was implemented on a compact Reconfigurable Input/Output ( Table 1 for details on them.…”

Section: Reference Model: Basic Version: Full-scale Sea Trialsmentioning

confidence: 99%

See 1 more Smart Citation

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Fernandes¹,

Sørensen²,

Donha³

2015

MIC

Self Cite

View full text Add to dashboard Cite

This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A reference model that synthesises references concerning a single Degree-of-Freedom (DoF) motion is initially described. Then, the use of the synthesised references as the parametrisation for other references concerning multiple DoF motion along curvature-continuous paths is exploited. Results from computer simulations and full-scale sea trials, both based on the NTNU's ROV Minerva, are presented and discussed.Keywords: Guidance system, Path generation, Reference model, ROV, Trajectory tracking. List of acronyms and abbreviations

show abstract

Section: Introductionsupporting

confidence: 51%

Section: Reference Model: Basic Version: Full-scale Sea Trialsmentioning

confidence: 99%

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Fernandes¹,

Sørensen²,

Donha³

2015

MIC

Self Cite

View full text Add to dashboard Cite

show abstract

“…PIDs fit well applications where sufficiently damped 2nd-order dynamics are dealt with (Åström and Hägglund, 2011). A number of successful applications based on PIDs can be found in literature (Breivik and Fossen, 2009;Fernandes et al, 2012;Fossen, 2011;Perrier and Canudas-de-Wit, 1996;Sørensen, 2013;Sørensen et al, 2012, and references therein). Asymptotic tracking requires feedforward action to ensure that the needed control effort to achieve the goal is provided (Franklin et al, 2009;Slotine and Li, 2005).…”

Section: Asymptotic Trajectory Trackingmentioning

confidence: 99%

“…Additionally, its machine code requires less memory space to be stored and is faster to be run than the EKF, which is advantageous if a microcontroller-based embedded control system is considered instead of a computationally more complex and powerful microprocessor-based system. The reference model found in Fernandes et al (2012) is used in this work to generate the reference trajectories for the guided motions. tion of the actual plants of the ROVs, whose parameters change over time mostly depending on operational and environmental conditions.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Motion Control System for Observation Class ROVs

Fernandes

Sørensen

Donha

2013

IFAC Proceedings Volumes

View full text Add to dashboard Cite

This paper proposes a MCS (Motion Control System) with trajectory tracking capability for observation class ROVs (Remotely Operated Vehicle) used to carry out automated high-resolution image capturing missions, e.g. inspections, mappings, and surveys. The trajectory tracking capability is a key feature to enable the end users of the ROV technology to acquire sequential high-quality images at proper pace to construct consistent representations of the objects or of the environments of interest. Four degrees-of-freedom are controlled -surge, sway, heave, and yaw. The MCS consists of an output feedback control system that is composed of a high-gain state observer and a MIMO (Multiple-Input-Multiple-Output) PID (ProportionalIntegral-Derivative) controller, that works aided by reference feedforward. Plant linearisation is performed aiming at improving the tracking performance. Stability and satisfactory performance of suitable and smooth reference trajectories are attained despite the presence of unmodelled dynamics, plant parameter variations, measurement noise, and environmental disturbances. Simulated results based on the model of the NTNU's ROV Minerva are presented.

show abstract

“…Feedback linearisation of the plant dynamics is implemented in the MCS. Suitable and sufficiently smooth reference trajectories are generated by the guidance subsystem of the MCS based on the reference model proposed by Fernandes et al (2012), which synthesises class C 2 , C 1 , and C 0 , position, velocity, and acceleration references, respectively, to parameterise the reference trajectories. Reference models are usually employed in reference tracking control systems to improve their closed-loop transient responses; system constraints and input limits (bandwidths and amplitudes) are concerned, thereby avoiding performance deterioration and instability, in more severe cases (Åström and Hägglund, 2011;Franklin et al, 2009;Khalil, 2002).…”

Section: Introductionmentioning

confidence: 99%

Full-Scale Sea Trials of a Motion Control System for ROVs Based on a High-Gain State Observer

Fernandes

Sørensen

Donha

2014

IFAC Proceedings Volumes

Self Cite

View full text Add to dashboard Cite

This paper reports selected results from full-scale sea trials, along with the description of the digital version implemented in practice, of a Motion Control System (MCS) previously proposed by the authors in the continuous-time domain, which has station keeping, i.e. dynamic positioning, and trajectory tracking capabilities for navigating observation class Remotely Operated Vehicles (ROV) used to carry out automated high-resolution image capturing missions, e.g. assessments, inspections, mappings, and surveys. Such capabilities are a key feature to enable the end-users of the ROV technology to acquire sequential high-quality images at proper pace to construct consistent representations of the objects or of the environments of interest. Four degrees-of-freedom are controlled, namely surge, sway, heave, and yaw. The MCS consists of an output feedback control system based on a high-gain state observer and a MIMO PID controller aided by reference feedforward. Feedback linearisation of the plant dynamics is also performed by the MCS. Satisfactory performance for suitable and sufficiently smooth reference trajectories are attained despite the presence of unmodelled dynamics, plant parameter variations, measurement noise, and environmental disturbances.

show abstract

Reference Model for High Performance and Low Energy Consumption Motions

Cited by 7 publications

References 6 publications

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Trajectory Tracking Motion Control System for Observation Class ROVs

Full-Scale Sea Trials of a Motion Control System for ROVs Based on a High-Gain State Observer

Contact Info

Product

Resources

About