Active Use of Restoring Moments for Motion Control of an Underwater Vehicle-Manipulator System
Active Use of Restoring Moments for Motion Control of an Underwater Vehicle-Manipulator System
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DOI：
10.1109/joe.2013.2241931
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发表时间：
2014-01-01
影响因子：
4.1
通讯作者：
Chung, Wan Kyun
中科院分区：
文献类型：
--
作者：
Han, Jonghui;Chung, Wan Kyun
本文提出了一个框架，积极利用恢复力矩的水下机器人机械手系统（UVMS）考虑运动学和控制方面。运动学方面涉及UVMS的冗余分辨率，其中冗余自由度用于选择性地优化恢复力矩。为此，新提出了一种具有可变梯度增益的性能指标，其中增益由任务方向与恢复时刻方向的比较结果确定。控制方面涉及恢复力和力矩的补偿。在这个框架中，控制输入弥补了由于期望的动力学和恢复力矩而导致的性能之间的差异。这是通过补偿恢复力和力矩来实现的，这些恢复力和力矩在一定的约束条件下不断更新。此外，补偿和最优比例积分微分（PID）控制合并成一个鲁棒自适应控制。建议的框架只需要质量，浮力，重心和浮力，而不是任何流体动力学参数。数值模拟表明所提出的框架，其中的UVMS可以执行特定的任务，以较少的控制输入，实现较小的跟踪误差相比，传统的控制系统的性能。
This paper proposes a framework for actively using the restoring moments of an underwater vehicle-manipulator system (UVMS) considering both kinematic and control aspects. The kinematic aspect concerns redundancy resolution of the UVMS where the redundant degrees of freedom are used to selectively optimize the restoring moments. For this, a performance index with variable gradient gain is newly proposed, in which the gain is determined by the result in the comparison of the task direction with the direction of the restoring moments. The control aspect concerns compensation of the restoring forces and moments. In this framework, the control input makes up for the difference between the performances due to the desired dynamics and the restoring moments. This is accomplished by compensation of the restoring forces and moments, which are consistently updated under certain constraints. In addition, the compensation and optimal proportional-integral-derivative (PID) control are merged into a robust adaptive control. The proposed framework requires only masses, buoyant forces, and centers of gravity and buoyancy, not any hydrodynamic parameters. Numerical simulations are presented to demonstrate the performance of the proposed framework, in which a UVMS can perform specific tasks with less control input and achieve smaller tracking errors compared to conventional control systems.