Task space-based control of an underwater robotic system for position keeping in ocean currents
Task space-based control of an underwater robotic system for position keeping in ocean currents
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DOI：
10.1080/01691864.2014.913504
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发表时间：
2014-07
影响因子：
2
通讯作者：
Y. Kim;S. Mohan;Jinwhan Kim
中科院分区：
文献类型：
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作者：
Y. Kim;S. Mohan;Jinwhan Kim
对于由装有机械手的水下机器人组成的水下机器人-机械手系统，在许多交互操作中，调整机械手末端执行器相对于给定目标位置的位置是很重要的。提出了一种基于任务空间的控制器设计方法，在不使用干扰观测器的情况下，确保水下机器人-机械手系统的末端执行器在存在未知海流和不确定性的情况下保持其位置不变。采用任务坐标反馈线性化控制，状态观测器采用扩展卡尔曼滤波(EKF)。该方法也可用于运动受环境扰动影响的水面舰船的动态定位或受控风化。为了验证该方法的有效性和有效性，进行了数值仿真和实验测试，并给出了实验结果。图形摘要
For an underwater vehicle-manipulator system, which consists of an underwater vehicle equipped with a manipulator, it is important to regulate the position of the manipulator’s end-effector with respect to a given target position in many interactive operations. This paper presents a task space-based approach for designing a controller that ensures that the end-effector of an underwater vehicle-manipulator system maintains its position in the presence of unknown ocean currents and uncertainties without the explicit use of a disturbance observer. A feedback linearizing control in task coordinates is used, and an extended Kalman filter (EKF) is employed as a state observer. The proposed approach can also be applied to dynamic positioning or controlled weathervaning of a surface ship whose motion is affected by environmental disturbances. To demonstrate the validity and effectiveness of the proposed approach, numerical simulations and experimental tests were carried out and their results are shown. Graphical Abstract