Proceedings ArticleDOI
Robust trajectory control of underwater vehicles
Dana R. Yoerger,J.-J. Slotine,J. Newman,Hagen Schempf +3 more
- Vol. 4, pp 184-197
Reads0
Chats0
TLDR
Methodology and results from simulation and actual tests in the water are reviewed and a new control system design methodology called sliding control has been shown to deal with difficult problems very effectively.Abstract:
The Deep Submergence Laboratory at the Woods Hole Oceanographic Institution is currently developing supervisory control system methodologies for underwater vehicles and manipulators. These technologies are currently being applied to Several tethered systems under development at the laboratory, however much of the work is directly applicable to untethered systems as well. Specific areas under investigation include man-machine interface design, control theoretic aspects of vehicle and manipulator control, and navigation sensors. The design of the closed-loop control system is a primary issue for any underwater vehicle that is not controlled manually. Precise trajectory control of all vehicles movements is particularly difficult due to the nonlinear, uncertain nature of the dynamics of underwater systems. A new control system design methodology called sliding control has been shown to deal with these difficult problems very effectively. In this paper, methodology and results from simulation and actual tests in the water are reviewed.read more
Citations
More filters
Journal ArticleDOI
Adaptive control of an autonomous underwater vehicle: experimental results on ODIN
TL;DR: The adaptive controller has been successfully implemented and experimentally validated on omnidirectional intelligent navigator (ODIN), an autonomous underwater vehicle that has been designed and built at the University of Hawaii.
Journal ArticleDOI
Adaptive neural network-based backstepping fault tolerant control for underwater vehicles with thruster fault
TL;DR: In this paper, a thruster fault tolerant control (FTC) method is developed for underwater vehicles in the presence of modelling uncertainty, external disturbance and unknown thruster faults, which incorporates the sliding mode algorithm and backstepping scheme to improve its robustness to modelling uncertainty and external disturbance.
Proceedings ArticleDOI
Neural network system for online controller adaptation and its application to underwater robot
Kazuo Ishii,T. Fujii,Tamaki Ura +2 more
TL;DR: A neural network system which executes identification of robot dynamics and controller adaptation in parallel with robot control and is designed to be suitable for a computer system with parallel processing ability.
Proceedings ArticleDOI
Analysis on dynamics of underwater robot manipulators based on iterative learning control and time-scale transformation
TL;DR: In the proposed method, hydrodynamic terms such as added mass, drag and buoyancy in dynamics of underwater robots are obtained by iterative learning control and time-scale transformation.
Proceedings ArticleDOI
Learning control of underwater robotic vehicles
Junku Yuh,K.V. Gonugunta +1 more
TL;DR: A learning control approach to an underwater robotic vehicle system using neural networks is described and results of computer simulation for pitch and altitude vehicle motion show the effectiveness of the proposed control system.
References
More filters
Journal ArticleDOI
The Robust Control of Robot Manipulators
TL;DR: The methodology is compared with standard algorithms such as the computed torque method and is shown to combine in practice improved performance with simpler and more tractable controller designs.
Journal ArticleDOI
Robust trajectory control of underwater vehicles
TL;DR: In this article, a recent extension of sliding mode control is shown to handle nonlinearities, is highly robust to imprecise models, explicitly accounts for the presence of high-frequency unmodeled dynamics, and produces designs that are easy to understand.