A sub-region tracking control for an underwater vehicle-manipulator system with a sub-task objective

Zool Ismail; Mathew Walter Dunnigan

A sub-region tracking control for an underwater vehicle-manipulator system with a sub-task objective

Research output: Contribution to conference › Paper

Abstract

In this paper, a sub-region tracking control scheme is proposed for an Underwater Vehicle-Manipulator System (UVMS). In the proposed controller, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. The unit quaternion representation is utilized to achieve singularity-free attitude tracking control. In addition, due to the kinematically redundant system, the controller also enables the use of self motion of the system to perform sub-tasks (drag minimization, obstacle avoidance, manipulability and avoidance of mechanical joint limits). Despite the parametric uncertainty associated with the underwater dynamic model, the controller ensures the sub-task tracking without affecting the sub-region and attitude tracking control objective. The controller has been designed based on a Lyapunov type approach. Results from simulations are presented to demonstrate the benefits of the proposed control law.

Original language	English
Publication status	Published - 2010

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Ismail, Z., & Dunnigan, M. W. (2010). A sub-region tracking control for an underwater vehicle-manipulator system with a sub-task objective.

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abstract = "In this paper, a sub-region tracking control scheme is proposed for an Underwater Vehicle-Manipulator System (UVMS). In the proposed controller, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. The unit quaternion representation is utilized to achieve singularity-free attitude tracking control. In addition, due to the kinematically redundant system, the controller also enables the use of self motion of the system to perform sub-tasks (drag minimization, obstacle avoidance, manipulability and avoidance of mechanical joint limits). Despite the parametric uncertainty associated with the underwater dynamic model, the controller ensures the sub-task tracking without affecting the sub-region and attitude tracking control objective. The controller has been designed based on a Lyapunov type approach. Results from simulations are presented to demonstrate the benefits of the proposed control law.",

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AU - Dunnigan, Mathew Walter

PY - 2010

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N2 - In this paper, a sub-region tracking control scheme is proposed for an Underwater Vehicle-Manipulator System (UVMS). In the proposed controller, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. The unit quaternion representation is utilized to achieve singularity-free attitude tracking control. In addition, due to the kinematically redundant system, the controller also enables the use of self motion of the system to perform sub-tasks (drag minimization, obstacle avoidance, manipulability and avoidance of mechanical joint limits). Despite the parametric uncertainty associated with the underwater dynamic model, the controller ensures the sub-task tracking without affecting the sub-region and attitude tracking control objective. The controller has been designed based on a Lyapunov type approach. Results from simulations are presented to demonstrate the benefits of the proposed control law.

AB - In this paper, a sub-region tracking control scheme is proposed for an Underwater Vehicle-Manipulator System (UVMS). In the proposed controller, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. The unit quaternion representation is utilized to achieve singularity-free attitude tracking control. In addition, due to the kinematically redundant system, the controller also enables the use of self motion of the system to perform sub-tasks (drag minimization, obstacle avoidance, manipulability and avoidance of mechanical joint limits). Despite the parametric uncertainty associated with the underwater dynamic model, the controller ensures the sub-task tracking without affecting the sub-region and attitude tracking control objective. The controller has been designed based on a Lyapunov type approach. Results from simulations are presented to demonstrate the benefits of the proposed control law.

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