Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention, due to the ability of interaction with underwater environments. In such applications, force/torque controllers which guarantee that the end-effector of the UVMS applies desired forces/torques towards the environment, should be designed in a way that state and input constraints are taken into consideration. Furthermore, due to their complicated structure, unmodeled dynamics as well as external disturbances may arise. Motivated by this, we proposed a robust Model Predicted Control Methodology (NMPC) methodology which can handle the aforementioned constraints in an efficient way and it guarantees that the end-effector is exerting the desired forces/torques towards the environment. Simulation results verify the validity of the proposed framework.
@article{arxiv.1810.11789,
title = {A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems},
author = {Alexandros Nikou and Christos K. Verginis and Dimos V. Dimarogonas},
journal= {arXiv preprint arXiv:1810.11789},
year = {2019}
}
Comments
Conference paper to appear in AUV 2018, Porto, Portugal. arXiv admin note: text overlap with arXiv:1809.09825