TRAJECTORY TRACKING CONTROL OF AN UNDERACTUATED UNDERWATER VEHICLE REDUNDANT MANIPULATOR SYSTEM

2016-09-01
Korkmaz, Ozan
İDER, SITKI KEMAL
Özgören, Mustafa Kemal
The purpose of this study is to control the position of an underactuated underwater vehicle manipulator system (U-UVMS). It is possible to control the end-effector using a regular 6-DOF manipulator despite the undesired displacements of the underactuated vehicle within a certain range. However, in this study an 8-DOF redundant manipulator is used in order to increase the positioning accuracy of the end-effector. The redundancy is resolved according to the criterion of minimal vehicle and joint motions. The underactuated underwater vehicle redundant manipulator system is modeled including the hydrodynamic forces for the manipulator in addition to those for the autonomous underwater vehicle (AUV). The shadowing effects of the bodies on each other are also taken into account when computing the hydrodynamic forces. The Newton-Euler formulation is used to derive the system equations of motion including the thruster dynamics. In order to establish the endeffector trajectory tracking control of the system, an inverse dynamics control law is formulated. The effectiveness of the control law even in the presence of parameter uncertainties and disturbing ocean currents is illustrated by simulations.
ASIAN JOURNAL OF CONTROL

Suggestions

Active control of the tip vortex: an experimental investigation on the performance characteristics of a model turbine
Anik, E.; Abdulrahim, A.; Ostovan, Y.; Mercan, B.; Uzol, Oğuz (2014-06-20)
This study is part of an on-going experimental research campaign that focuses on the active control of the tip leakage/vortex characteristics of a model horizontal axis wind turbine rotor using tip injection. This paper presents both baseline (no-injection) data as well as data with tip injection, concentrating on the effects of tip injection on power and thrust variations with the Tip Speed Ratio (TSR). The experiments are conducted by placing a specially designed 3-bladed model wind turbine rotor at the e...
Navigation and path planning of an unmanned underwater vehicle
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...
Fault tolerant estimation of autonomous underwater vehicle dynamics via robust UKF
Hajiyev, Chingiz; Ata, Melih; Dinc, Mustafa; Söken, Halil Ersin (2012-07-30)
This article is basically focused on application of the Unscented Kalman Filter (UKF) algorithm to the estimation of high speed an autonomous underwater vehicle (AUV) dynamics. In the normal operation conditions of AUV, conventional UKF gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunction in the estimation system, UKF gives inaccurate results and diverges by time. This study, introduces Robust Unscented Kalman Filter (RUKF) algorithms w...
Failure analysis of advanced composites under impact by cohesive zone method
Doğan, Oğuz; Parnas, Kemal Levend; Department of Mechanical Engineering (2013)
The main objective of this study is to investigate the delamination damage of laminated composites subjected to low velocity impact. Three-dimensional finite element analyses are conducted to determine delamination area, shape and location. The impact analysis is performed by using the explicit finite element method which uses the central difference rule to integrate the equations of motion through the time. The composite structures are modeled using eight-node solid elements. The critical interfaces betwee...
Vision-based Navigation and System Identification of Underwater Survey Vehicle
Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Ege, Emre (2015-05-19)
In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle is obtained. The inertial navigation system and vision-based measurement systems are modelled. The magnetic compass, depth sensor and pitot tube are used in order to support vehicle's attitude, velocity and depth information. The state errors are estimated with error state estimation algorithm from the noisy measurement data. The navigational data of the vehicle can be obtained accurately using the extended Kalman filter...
Citation Formats
O. Korkmaz, S. K. İDER, and M. K. Özgören, “TRAJECTORY TRACKING CONTROL OF AN UNDERACTUATED UNDERWATER VEHICLE REDUNDANT MANIPULATOR SYSTEM,” ASIAN JOURNAL OF CONTROL, pp. 1593–1607, 2016, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/31799.