Experimental study on fine motion control of underwater robots

This paper considers thruster dead zones and saturation limits, which are nonlinear elements that complicate fine motion control of underwater robots. If the vehicle is configured with redundant thrusters, the respective dead zones and their surrounding nonlinear regions could be avoided by implemen...

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Bibliographic Details
Published inAdvanced robotics Vol. 18; no. 10; pp. 963 - 978
Main Authors Hanai, A., Choi, H. T., Choi, S. K., Yuh, J.
Format Journal Article
LanguageEnglish
Published Taylor & Francis Group 01.01.2004
Subjects
AUVS
FINE MOTION CONTROL
MINIMUM SOLUTION
NULL SOLUTION
UNDERWATER ROBOTS
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Summary:This paper considers thruster dead zones and saturation limits, which are nonlinear elements that complicate fine motion control of underwater robots. If the vehicle is configured with redundant thrusters, the respective dead zones and their surrounding nonlinear regions could be avoided by implementing a null motion solution for the command input of the vehicle. This solution is derived from the vehicle's geometry and is realized before the application of the motion control algorithm. The result is an improvement in system performance exclusive of the implemented controller type. The approach is illustrated through simulation and experiment with an underwater robot, ODIN.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
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ISSN:0169-1864
1568-5535
DOI:10.1163/1568553042674680