A sub-region tracking control for an Underwater Vehicle-Manipulator System with a sub-task objective

Zool H. Ismail; Mathew Walter Dunnigan

doi:10.1109/OCEANSSYD.2010.5603813

A sub-region tracking control for an Underwater Vehicle-Manipulator System with a sub-task objective

Zool H. Ismail, Mathew Walter Dunnigan

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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
Title of host publication	OCEANS'10 IEEE SYDNEY
Publisher	IEEE
ISBN (Print)	9781424452217
DOIs	https://doi.org/10.1109/OCEANSSYD.2010.5603813
Publication status	Published - 14 Oct 2010

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title = "A sub-region tracking control for an Underwater Vehicle-Manipulator System with a sub-task objective",

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

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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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DO - 10.1109/OCEANSSYD.2010.5603813

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