Next Article in Journal
Marine Propulsors
Next Article in Special Issue
Autonomous Minimum Safe Distance Maintenance from Submersed Obstacles in Ocean Currents
Previous Article in Journal
Simulation of the Arctic—North Atlantic Ocean Circulation with a Two-Equation K-Omega Turbulence Parameterization
Previous Article in Special Issue
A Novel Gesture-Based Language for Underwater Human–Robot Interaction
Article Menu
Issue 3 (September) cover image

Export Article

Open AccessArticle
J. Mar. Sci. Eng. 2018, 6(3), 96; https://doi.org/10.3390/jmse6030096

Coupled and Decoupled Force/Motion Controllers for an Underwater Vehicle-Manipulator System

1
Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109, USA
2
School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK
A large part of this work was completed when Corina Barbalata was at Heriot-Watt University, School of Engineering and Physical Sciences, Edinburgh, UK.
*
Author to whom correspondence should be addressed.
Received: 10 July 2018 / Revised: 15 August 2018 / Accepted: 17 August 2018 / Published: 21 August 2018
(This article belongs to the Special Issue Intelligent Marine Robotics Modelling, Simulation and Applications)
Full-Text   |   PDF [1813 KB, uploaded 11 September 2018]   |  

Abstract

Autonomous interaction with the underwater environment has increased the interest of scientists in the study of control structures for lightweight underwater vehicle-manipulator systems. This paper presents an essential comparison between two different strategies of designing control laws for a lightweight underwater vehicle-manipulator system. The first strategy aims to separately control the vehicle and the manipulator and hereafter is referred to as the decoupled approach. The second method, the coupled approach, proposes to control the system at the operational space level, treating the lightweight underwater vehicle-manipulator system as a single system. Both strategies use a parallel position/force control structure with sliding mode controllers and incorporate the mathematical model of the system. It is demonstrated that both methods are able to handle this highly non-linear system and compensate for the coupling effects between the vehicle and the manipulator. The results demonstrate the validity of the two different control strategies when the goal is located at various positions, as well as the reliable behaviour of the system when different environment stiffnesses are considered. View Full-Text
Keywords: underwater vehicle-manipulator system; autonomy; low-level control; position control; force control; parallel control; dynamic modelling underwater vehicle-manipulator system; autonomy; low-level control; position control; force control; parallel control; dynamic modelling
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Barbalata, C.; Dunnigan, M.W.; Petillot, Y. Coupled and Decoupled Force/Motion Controllers for an Underwater Vehicle-Manipulator System. J. Mar. Sci. Eng. 2018, 6, 96.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
J. Mar. Sci. Eng. EISSN 2077-1312 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top