Robotics is increasingly attracting interest for more and more applications. In particular, underwater robotics is having a large development since the need of mineral resources is growing. The latter pushes to find out new deposits on the seabed. Therefore, the construction and the maintenance of underwater structures are necessary, e.g., submarine pipelines for carrying oil and gas. However, performing any task on the seabed is very dangerous for the man, for obvious reasons. Thus, several Autonomous Underwater Vehicles (AUVs), equipped with manipulators as well, have been implemented in recent years, aimed at physically substituting the man. The control of Underwater Vehicles-Manipulator Systems (UVMSs) require full control of the vehicle. Indeed, cruise vehicles with rudder and stern are not suitable for carrying a manipulator since they are not able to counteract the interaction forces with the arm itself. Furthermore, for a rigid body moving in a fluid there exist several hydrodynamic effects acting on it. In particular, among the latter, the restoring generalized forces, which are gravity and buoyancy, and the ocean current are of major concern in designing the control law since they influence the steady-state position and orientation errors. Beyond Proportional-Integral-Derivative actions (PID), several adaptive control laws have been proposed in literature for compensating these effects. However, they all are designed starting from the dynamic models written either in the earth-fixed or in the vehicle-fixed frame, respectively. Nevertheless, some hydrodynamic terms are constant in earth-fixed frame, e.g., the restoring linear force, and some others are constant in the vehicle-fixed frame, e.g., the restoring moment. Thus, in this thesis work, a mixed earth/vehicle-fixed frame-based adaptive control able to build each dynamic compensation action in the proper reference frame is proposed. In particular, a reduced version has been derived within the aim to achieve null steady state error under modelling ...


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    Titel :

    Planning and Control of Underwater Vehicle-Manipulator Systems



    Erscheinungsdatum :

    2020-03-18


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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