Underwater robots : motion and force control of vehicle-manipulator systems

Title:

Personal Author:

Antonelli, Gianluca, 1970-

Series:

Springer tracts in advanced robotics ; 2

Edition:

2nd ed.

Publication Information:

Berlin : Springer, 2006

ISBN:

9783540317524

Subject Term:

Remote submersibles

Steering-gear

Available:*

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010140016	TC1662 A57 2006	Open Access Book	Book	Searching... Unknown

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

1 Modelling of Underwater Robots	p. 1
1.1 Introduction	p. 1
1.2 Rigid Body's Kinematics	p. 1
1.2.1 Attitude representation by Euler angles	p. 2
1.2.2 Attitude representation by quaternion	p. 3
1.2.3 Attitude error representation	p. 4
1.3 Rigid Body's Dynamics	p. 6
1.3.1 Rigid body's dynamics in matrix form	p. 8
1.4 Hydrodynamic Effects	p. 10
1.4.1 Added mass and inertia	p. 10
1.4.2 Damping effects	p. 12
1.4.3 Current effects	p. 13
1.5 Gravity and Buoyancy	p. 14
1.6 Thrusters' Dynamics	p. 15
1.7 Underwater Vehicles' Dynamics in Matrix Form	p. 16
1.8 Kinematics of Manipulators with Mobile Base	p. 17
1.9 Dynamics of Underwater Vehicle-Manipulator Systems	p. 19
1.9.1 Linearity in the parameters	p. 21
1.10 Contact with the Environment	p. 21
2 Kinematic Control	p. 23
2.1 Introduction	p. 23
2.2 Kinematic Control	p. 24
2.3 Application of Kinematic Control to UVMSs	p. 29
2.4 Fuzzy Inverse Kinematics	p. 30
2.5 Simulations	p. 32
2.5.1 Simulations of the singularity-robust task-priority technique	p. 32
2.5.2 Simulations of the fuzzy task-priority technique	p. 39
2.6 Further Research	p. 50
3 Dynamic Control	p. 55
3.1 Literature survey of UVMSs Dynamic Control	p. 55
3.2 Sliding Mode Control	p. 57
3.2.1 Stability analysis	p. 58
3.2.2 Simulations	p. 60
3.3 Adaptive Control	p. 63
3.3.1 Stability analysis	p. 64
3.3.2 Simulations	p. 66
3.4 Output Feedback Control	p. 69
3.4.1 Stability analysis	p. 74
3.4.2 Simulations	p. 78
3.5 Virtual Decomposition Based Control	p. 90
3.5.1 Stability analysis	p. 93
3.5.2 Simulations	p. 95
3.6 Experiments on ODIN: an Autonomous Underwater Vehicle	p. 101
3.6.1 Experimental Set-Up	p. 102
3.6.2 Implementation issues	p. 103
3.6.3 Experiments	p. 104
3.6.4 Experiments of fault tolerance to thrusters' fault	p. 106
3.7 On the use of Adaptive/Integral Control Actions for Under-water Vehicle Control	p. 110
3.7.1 A novel adaptive control law for AUVs	p. 112
3.7.2 Stability Analysis	p. 114
3.7.3 Implementation aspects	p. 116
3.7.4 Comparison with known controllers	p. 117
3.7.5 Comparative simulation study	p. 121
3.7.6 Conclusions and extension to UVMSs	p. 129
3.8 Conclusions	p. 134
3.9 Further Research	p. 134
4 Interaction Control	p. 135
4.1 Introduction to Interaction Control of Robots	p. 135
4.2 External Force Control	p. 136
4.2.1 Inverse kinematics	p. 137
4.2.2 Stability analysis	p. 138
4.2.3 Robustness	p. 139
4.2.4 Loss of contact	p. 140
4.2.5 Implementation issues	p. 140
4.2.6 Simulations	p. 141
4.3 Explicit Force Control	p. 144
4.3.1 Robustness	p. 148
4.3.2 Simulations	p. 149
4.4 Further Research	p. 154
Conclusions	p. 155
A SIMURV. A Simulation Package for Underwater Vehicle-Manipulator Systems	p. 159
A.1 Introduction	p. 159
A.2 Description of the algorithms	p. 160
A.2.1 Articulated Body algorithm	p. 160
A.2.2 Composite Rigid Body algorithm	p. 161
A.3 Simurv	p. 161
B Mathematical models	p. 165
B.1 Introduction	p. 165
B.2 Phoenix	p. 165
B.3 Phoenix+6dofs SMART 3S	p. 167
B.4 ODIN	p. 168
B.5 9-dofs UVMS	p. 169
References	p. 171

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