Reduction of the dynamic coupling in an underwater vehicle-manipulator system using an inverse dynamic model approach

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a control strategy for station keeping of an underwater vehiclemanipulator system when the manipulator is asked to perform a certain task. The control structure consists of an inverse dynamic feedforward controller, the interaction forces between subsystems and a PILIM feedback controller for pitch control of the vehicle. The UVMS includes a 6-DOF vehicle and a 3-link manipulator, where the manipulator has a significant mass compared to the vehicle. The equations of motion are based on a tree representation of the UVMS and are described with the Newton-Euler algorithm. Hydrodynamic effects and friction considerations are taken into account in the forward dynamic model, while in the inverse dynamic model they are ignored. Simulation results show the validity of the inverse dynamic model approach without perfect knowledge of the system for station keeping of the vehicle. A key contribution of the study is that it is based on a lightweight underwater system. The main problem addressed in this paper is the station keeping of an underwater vehicle when the attached manipulator is moving. It is demonstrated that an inverse dynamic model used as a feedforward controller is a viable solution in the presence of system uncertainties.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
PublisherInternational Federation of Automatic Control (IFAC)
Pages44-49
Number of pages6
Volume48-2
DOIs
Publication statusPublished - 2015
Event4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles 2015 - Girona, Spain
Duration: 28 Apr 201530 Apr 2015

Publication series

NameIFAC-PapersOnLine
PublisherIFAC
Number2
Volume48
ISSN (Print)2405-8963

Conference

Conference4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles 2015
Abbreviated titleNGCUV 2015
CountrySpain
CityGirona
Period28/04/1530/04/15

Fingerprint

Manipulators
Dynamic models
Controllers
Equations of motion
Hydrodynamics
Friction
Feedback

Keywords

  • Dynamic coupling
  • Inverse dynamics
  • Manipulators
  • Modeling
  • Pilim control
  • Underwater vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Barbalata, C., Dunnigan, M. W., & Pétillot, Y. (2015). Reduction of the dynamic coupling in an underwater vehicle-manipulator system using an inverse dynamic model approach. In IFAC Proceedings Volumes (IFAC-PapersOnline) (Vol. 48-2, pp. 44-49). (IFAC-PapersOnLine; Vol. 48, No. 2). International Federation of Automatic Control (IFAC). https://doi.org/10.1016/j.ifacol.2015.06.008
Barbalata, Corina ; Dunnigan, Mathew Walter ; Pétillot, Yvan. / Reduction of the dynamic coupling in an underwater vehicle-manipulator system using an inverse dynamic model approach. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 48-2 International Federation of Automatic Control (IFAC), 2015. pp. 44-49 (IFAC-PapersOnLine; 2).
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Barbalata, C, Dunnigan, MW & Pétillot, Y 2015, Reduction of the dynamic coupling in an underwater vehicle-manipulator system using an inverse dynamic model approach. in IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 48-2, IFAC-PapersOnLine, no. 2, vol. 48, International Federation of Automatic Control (IFAC), pp. 44-49, 4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles 2015, Girona, Spain, 28/04/15. https://doi.org/10.1016/j.ifacol.2015.06.008

Reduction of the dynamic coupling in an underwater vehicle-manipulator system using an inverse dynamic model approach. / Barbalata, Corina; Dunnigan, Mathew Walter; Pétillot, Yvan.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 48-2 International Federation of Automatic Control (IFAC), 2015. p. 44-49 (IFAC-PapersOnLine; Vol. 48, No. 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper proposes a control strategy for station keeping of an underwater vehiclemanipulator system when the manipulator is asked to perform a certain task. The control structure consists of an inverse dynamic feedforward controller, the interaction forces between subsystems and a PILIM feedback controller for pitch control of the vehicle. The UVMS includes a 6-DOF vehicle and a 3-link manipulator, where the manipulator has a significant mass compared to the vehicle. The equations of motion are based on a tree representation of the UVMS and are described with the Newton-Euler algorithm. Hydrodynamic effects and friction considerations are taken into account in the forward dynamic model, while in the inverse dynamic model they are ignored. Simulation results show the validity of the inverse dynamic model approach without perfect knowledge of the system for station keeping of the vehicle. A key contribution of the study is that it is based on a lightweight underwater system. The main problem addressed in this paper is the station keeping of an underwater vehicle when the attached manipulator is moving. It is demonstrated that an inverse dynamic model used as a feedforward controller is a viable solution in the presence of system uncertainties.

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Barbalata C, Dunnigan MW, Pétillot Y. Reduction of the dynamic coupling in an underwater vehicle-manipulator system using an inverse dynamic model approach. In IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 48-2. International Federation of Automatic Control (IFAC). 2015. p. 44-49. (IFAC-PapersOnLine; 2). https://doi.org/10.1016/j.ifacol.2015.06.008