Coupled and Decoupled Force/Motion Controllers for an Underwater Vehicle-Manipulator System
Coupled and Decoupled Force/Motion Controllers for an Underwater Vehicle-Manipulator System
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DOI：
10.3390/jmse6030096
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发表时间：
2018-09-01
影响因子：
2.9
通讯作者：
Petillot, Yvan
中科院分区：
文献类型：
--
作者：
Barbalata, Corina;Dunnigan, Matthew W.;Petillot, Yvan
与水下环境的自主相互作用增加了科学家对轻型水下机器人-机械手系统控制结构的研究兴趣。本文对轻型水下机器人-机械手系统两种不同的控制律设计策略进行了本质上的比较。第一种策略旨在分别控制车辆和机械手，以下称为解耦方法。第二种方法是耦合方法，将轻量化的水下机器人-机械手系统作为单个系统来处理，提出在操作空间级别对系统进行控制。这两种策略都采用了带有滑模控制器的并行位置/力控制结构，并结合了系统的数学模型。仿真结果表明，这两种方法都能较好地处理这一高度非线性系统，并能补偿机械手与小车之间的耦合影响。结果表明，当目标位于不同位置时，两种不同的控制策略是有效的，当考虑不同的环境刚度时，系统的行为是可靠的。
Autonomous interaction with the underwater environment has increased the interest of scientists in the study of control structures for lightweight underwater vehicle-manipulator systems. This paper presents an essential comparison between two different strategies of designing control laws for a lightweight underwater vehicle-manipulator system. The first strategy aims to separately control the vehicle and the manipulator and hereafter is referred to as the decoupled approach. The second method, the coupled approach, proposes to control the system at the operational space level, treating the lightweight underwater vehicle-manipulator system as a single system. Both strategies use a parallel position/force control structure with sliding mode controllers and incorporate the mathematical model of the system. It is demonstrated that both methods are able to handle this highly non-linear system and compensate for the coupling effects between the vehicle and the manipulator. The results demonstrate the validity of the two different control strategies when the goal is located at various positions, as well as the reliable behaviour of the system when different environment stiffnesses are considered.