پیوندهای مفید
آمار
| تعداد نشریات | 7 |
| تعداد شماره‌ها | 399 |
| تعداد مقالات | 5,389 |
| تعداد مشاهده مقاله | 5,288,172 |
| تعداد دریافت فایل اصل مقاله | 4,882,909 |
Nonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System | ||
| AUT Journal of Electrical Engineering | ||
| مقاله 7، دوره 52، شماره 2، اسفند 2020، صفحه 193-204 اصل مقاله (2.44 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/eej.2020.17665.5324 | ||
| نویسندگان | ||
| Mozhde Mahmoodi1؛ Amir Farhad Ehyaei* 2؛ Javad Ehyaei3 | ||
| 1Electrical Engineering Department, Faculty of Technical and Engineering, Imam Khomeini International University, Qazvin, Iran | ||
| 2Electrical engineering Department, Faculty of Technical and Engineering, Imam Khomeini International University, Qazvin, Iran | ||
| 3Mechanical Engineering Department, Faculty of Technical and Engineering, Imam Khomeini International University, Qazvin, Iran | ||
| چکیده | ||
| This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme and makes the states stable even in presence of unknown effects of hydrodynamic disturbances and unmodelled dynamics. In this regard, the dynamic model of an UVMS is extracted using the Newton–Euler formulation which has been validated by using an ADAMS 3-D model. The control algorithm is based on Lyapunov technique and is able to provide the stability of the whole system during tracking of the desired trajectory with an acceptable precision. The controller parameters are also optimized utilizing the concept of Genetic Algorithm with the aim of increasing the speed of system while decreasing the tracking error which leads to bounded control inputs. Finally, the efficacy of the control scheme, is compared with other conventional methods and the simulation results show the short settling time, low and smooth control effort and asymptotic stability of the states as well as the sliding surfaces of the proposed controller. | ||
| کلیدواژه‌ها | ||
| Underwater Vehicle-Manipulator System؛ Multi-surface sliding mode؛ Robust control؛ External disturbance؛ Model uncertainty | ||
| مراجع | ||
|
[1] T.W. Kim, J. Yuh, Development of a real-time control architecture for a semi-autonomous underwater vehicle for intervention missions, Control Engineering Practice, 12(12) (2004) 1521-1530. [2] M. Santhakumar, Proportional-derivative observer-based backstepping control for an underwater manipulator, Mathematical Problems in Engineering, 2011 (2011). [3] J. Kim, W.K. Chung, J. Yuh, Dynamic analysis and two-time scale control for underwater vehicle-manipulator systems, in: Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)(Cat. No. 03CH37453), IEEE, 2003, pp. 577-582. [4] G. Antonelli, S. Chiaverini, Task-priority redundancy resolution for underwater vehicle-manipulator systems, in: Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No. 98CH36146), IEEE, 1998, pp. 768-773. [5] B.-H. Jun, H.-W. Shim, P.-M. Lee, Approximated generalized torques by the hydrodynamic forces acting on legs of an underwater walking robot, International Journal of Ocean System Engineering, 1(4) (2011) 222-229. [6] S. Mohan, J. Kim, Indirect adaptive control of an autonomous underwater vehicle-manipulator system for underwater manipulation tasks, Ocean Engineering, 54 (2012) 233-243. [7] Y. Dai, S. Yu, Design of an indirect adaptive controller for the trajectory tracking of UVMS, Ocean Engineering, 151 (2018) 234-245. [8] N. Sarkar, T.K. Podder, Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization, IEEE Journal of Oceanic Engineering, 26(2) (2001) 228-239. [9] G. Antonelli, F. Caccavale, S. Chiaverini, Adaptive tracking control of underwater vehicle-manipulator systems based on the virtual decomposition approach, IEEE Transactions on Robotics and Automation, 20(3) (2004) 594-602. [10] B. Xu, S.R. Pandian, M. Inoue, N. Sakagami, S. Kawamura, Model-based sliding mode control of underwater robot manipulators, International Journal of Offshore and Polar Engineering, 16(03) (2006). [11] H.N. Esfahani, V. Azimirad, M. Zakeri, Sliding mode-pid fuzzy controller with a new reaching mode for underwater robotic manipulators, Latin American applied research, 44(3) (2014) 253-258. [12] F. Piltan, N. Sulaiman, A. Gavahian, S. Soltani, S. Roosta, Design mathematical tunable gain PID-like sliding mode fuzzy controller with minimum rule base, International Journal of Robotic and Automation, 2(3) (2011) 146-156. [13] P.S. Londhe, M. Santhakumar, B.M. Patre, L.M. Waghmare, Task space control of an autonomous underwater vehicle manipulator system by robust single-input fuzzy logic control scheme, IEEE Journal of oceanic engineering, 42(1) (2016) 13-28. [14] P. Londhe, S. Mohan, B. Patre, L. Waghmare, Robust task-space control of an autonomous underwater vehicle-manipulator system by PID-like fuzzy control scheme with disturbance estimator, Ocean Engineering, 139 (2017) 1-13. [15] Y. Wang, S. Jiang, B. Chen, H. Wu, Trajectory tracking control of underwater vehicle-manipulator system using discrete time delay estimation, IEEE Access, 5 (2017) 7435-7443. [16] Y. Wang, B. Chen, H. Wu, Nonlinear robust control of underwater vehicle-manipulator system based on time delay estimation, in: 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), IEEE, 2017, pp. 119-123. [17] L.K. Grunenfelder, G. Milliron, S. Herrera, I. Gallana, N. Yaraghi, N. Hughes, K. Evans‐Lutterodt, P. Zavattieri, D. Kisailus, Ecologically driven ultrastructural and hydrodynamic designs in stomatopod cuticles, Advanced Materials, 30(9) (2018) 1705295. [18] F. Alnaimat, E. Alhseinat, F. Banat, Electromagnetic separation of heat stable salt from gas sweetening amine, International Journal of Greenhouse Gas Control, 68 (2018) 256-268. [19] J. Bae, J. Bak, S. Jin, T. Seo, J. Kim, Optimal configuration and parametric design of an underwater vehicle manipulator system for a valve task, Mechanism and Machine Theory, 123 (2018) 76-88. [20] R. Babaie, A.F. Ehyaie, Robust optimal motion planning approach to cooperative grasping and transporting using multiple UAVs based on SDRE, Transactions of the Institute of Measurement and Control, 39(9) (2017) 1391-1408. [21] R. Babaie, A.F. Ehyaei, Robust control design of a quadrotor UAV based on incremental hierarchical sliding mode approach, in: 2017 Iranian Conference on Electrical Engineering (ICEE), IEEE, 2017, pp. 835-840. [22] B. Nagaraj, N. Murugananth, A comparative study of PID controller tuning using GA, EP, PSO and ACO, in: 2010 International Conference On Communication Control And Computing Technologies, IEEE, 2010, pp. 305-313. [23] C.S. Chin, W.P. Lin, Robust genetic algorithm and fuzzy inference mechanism embedded in a sliding-mode controller for an uncertain underwater robot, IEEE/ASME Transactions on Mechatronics, 23(2) (2018) 655-666. [24] X. Wang, T. Lu, P. Zhang, State generation method for humanoid motion planning based on genetic algorithm, International Journal of Advanced Robotic Systems, 9(1) (2012) 23. [25] W. Zhao, D. Yu, Z. Hu, Parameters optimization for small helicopter highly controller based on genetic algorithm, in: World Automation Congress 2012, IEEE, 2012, pp. 1-4.
| ||
|
آمار تعداد مشاهده مقاله: 938 تعداد دریافت فایل اصل مقاله: 277 |
||