Modeling and control of autonomous underwater vehicle manipulator vehicle manipulator systems

Korkmaz, Ozan
In this thesis, dynamic modeling and nonlinear control of autonomous underwater vehicle manipulator systems are presented. Mainly, two types of systems consisting of a 6-DOF AUV equipped with a 6-DOF manipulator subsystem (UVMS) and with an 8-DOF redundant manipulator subsystem (UVRMS) are modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the bodies on each other are introduced when computing the hydrodynamic forces. The system equations of motion are derived recursively using Newton–Euler formulation. The inverse dynamics control algorithms are formulated and trajectory tracking control of the systems is achieved by assigning separate tasks for the end effector of the manipulator and for the underwater vehicle. The proposed inverse dynamics controller utilizes the full nonlinear model of the system and consists of a linearizing control law that uses the feedback of positions and velocities of the joints and the underwater vehicle in order to cancel off the nonlinearities of the system. The PD control is applied after this complicated feedback linearization process yielding second order error dynamics. The thruster dynamics is also incorporated into the control system design. The stability analysis is performed in the presence of parametric uncertainty and disturbing ocean current. The effectiveness of the control methods are demonstrated by simulations for typical underwater missions.


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Gül, Uğur Doğan; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2012)
Due to the conditions peculiar to underwater, distinctive approaches are required to solve the navigation and path planning problem of an unmanned underwater vehicle (UUV). In this study, first of all, a detailed 6 degrees-of-freedom (DOF) mathematical model is formed, including the coupled non-linear forces and moments acting on an underwater vehicle. The hydrodynamic coefficients which correspond to the geometry of the vehicle which the model is based on are calculated using the strip theory. After the ma...
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ASLAN, Gökhan; Konukseven, Erhan İlhan; Koku, Ahmet Buğra (2014-01-06)
In an efficient autonomous navigation and exploration, the robots should sense the environment as exactly as possible in real-time and act correctly on the basis of the acquired 3D data. Laser scanners have been used for the last 30 years for mobile robot navigation. However, they often did not enough speed, accuracy and field of view. In this paper we present the design and implementation of a scanning platform, which can be used for both outdoor and indoor mobile robot navigation and mapping. A 3D scannin...
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Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2017)
This study includes the mathematical model of an unmanned underwater vehicle, autopilot and the guidance design, the navigation solution and system identification of the unmanned underwater survey vehicle SAGA (Su Altı Gözlem Aracı). First, the 6 degrees-of-freedom (DOF) nonlinear mathematical model of an unmanned underwater vehicle is obtained by a Newton-Euler formulation. Then, the autopilot is designed by utilizing the proportional–integral–derivative (PID) control approach. The navigation problem is so...
Design and Simulation of Passive Reflecting Surfaces for 5G Applications
Karaova, Gokhan; Ergül, Özgür Salih (2021-01-01)
Design and simulation of passive reflectors to be used in 5G applications are presented. An optimization environment is constructed based on genetic algorithms (GAs) and a full-wave solver to obtain compact reflectors that possess various reflection characteristics in accordance with given design specifications. In addition to their triangulated models for simulations, reflectors are represented by Bezier surfaces on the optimization side to reach smooth designs that are suitable for fabrication. A multigri...
Control and guidance of an unmanned sea surface vehicle
Ahıska, Kenan; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2012)
In this thesis, control and guidance algorithms for unmanned sea surface vehicles are studied. To design control algorithms of different complexity, first a mathematical model for an unmanned sea surface vehicle is derived. The dynamical and kinematical equations for a sea surface vehicle are obtained, and they are adapted to real life conditions with necessary additions and simplifications. The forces and torques effecting on the vehicle are investigated in detail. Control algorithms for under-actuated six...
Citation Formats
O. Korkmaz, “Modeling and control of autonomous underwater vehicle manipulator vehicle manipulator systems,” Ph.D. - Doctoral Program, Middle East Technical University, 2012.