کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1725347 1520686 2015 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Coordinated motion control in task space of an autonomous underwater vehicle–manipulator system
ترجمه فارسی عنوان
کنترل حرکت مختص در فضای کاری یک سیستم دستکاری در زیر آب
کلمات کلیدی
سیستم خودکار دستکاری خودکار زیر آب، کنترل حرکت هماهنگ، تعاملات خودرو، ناظر اختلال، کنترل فضای کارگر
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
چکیده انگلیسی


• This research provides a generalized framework of the coordinated control in task space for a UVMS.
• The new scheme enables overcoming the difficulty due to parameter uncertainties and disturbances.
• The unknown disturbances are estimated and compensated through the help of a disturbance observer.
• The proposed scheme reduces power consumption significantly.

This paper presents a coordinated motion control scheme using a disturbance observer in task space for an autonomous underwater vehicle–manipulator system (UVMS). Since, the UVMS is kinematically redundant in nature, the proposed controller permits self-motion which can be utilized to perform power efficient trajectory tracking and at the same time it also assures that the system is able to track the given desired spatial trajectory with minimal errors (despite the presence of external disturbances, system uncertainties and internal noises). The performance of the proposed coordinated motion control of the UVMS is demonstrated numerically by simulating a few underwater tasks such as payload conveyance. The system’s disturbance compensation capabilities are shown and the effects of external disturbances and parameter uncertainties on the station keeping performance are also analyzed. A comparative analysis on power consumption is presented to prove the effectiveness of the proposed scheme.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 104, 1 August 2015, Pages 155–167
نویسندگان
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