Abstract
This paper studied the fixed point control task of a DELTA parallel manipulator mounted on an autonomous underwater vehicle. Such a system features complex dynamics and susceptibility to disturbances due to its parallel structure and floating base. The main disturbances of the fixed point control task are the coupling reaction between the vehicle and the manipulator and the position error of the end-effector caused by the fluctuation of the underwater vehicle. We proposed a method to achieve better performance in aspects of accuracy and stability for the DELTA manipulator used in the underwater vehicle manipulator system (UVMS). First, we introduce the mechanical structure of the UVMS studied in this paper. Second, we derive the coupling relationship between the manipulator and the underwater vehicle and then feed it to the controller of the vehicle. Third, the vehicle’s velocity and position changes are obtained through the acceleration data of the vehicle under a hovering state. Then the changes are compensated by the controller of the DELTA manipulator, which adjusts the trajectory in joint space. Finally, simulation results are presented to verify the feasibility of our method.
This work was supported in part by the Natural Science Foundation of Jiangsu Province of China under Grant BK20210214, the Fundamental Research Funds for the Central Universities, and the “Zhishan” Scholars Programs of Southeast University.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Cai, M., Wang, Y., Wang, S., Wang, R., Ren, Y., Tan, M.: Grasping marine products with hybrid-driven underwater vehicle-manipulator system. IEEE Trans. Autom. Sci. Eng. 17(3), 1443–1454 (2020)
Konoplin, A., Krasavin, N.: Automatic speed control system for manipulator mounted on underwater vehicle. In: 2022 International Russian Automation Conference (RusAutoCon), pp. 205–209. IEEE (2022)
Han, H., Wei, Y., Ye, X., Liu, W.: Modeling and fuzzy decoupling control of an underwater vehicle-manipulator system. IEEE Access 8, 18962–18983 (2020)
Liu, J., Zhang, Y., Yu, Y., Sun, C.: Fixed-time event-triggered consensus for nonlinear multiagent systems without continuous communications. IEEE Trans. Syst. Man Cybern. Syst. 49(11), 2221–2229 (2019)
Cai, M., Wang, S., Wang, Y., Wang, R., Tan, M.: Coordinated control of underwater biomimetic vehicle-manipulator system for free floating autonomous manipulation. IEEE Trans. Syst. Man Cybern. Syst. 51(8), 4793–4803 (2019)
Zhekov, Z., Atanasov, N.: Modelling and Control of 2-DOF underwater manipulator in presence of disturbances. In: 2021 International Conference Automatics and Informatics (ICAI), pp. 333–336. IEEE (2021)
Liu, J., Yu, Y., He, H., Sun, C.: Team-triggered practical fixed-time consensus of double-integrator agents with uncertain disturbance. IEEE Trans. Cybern. 51(6), 3263–3272 (2021)
Lv, J., Wang, Y., Tang, C., Wang, S., Xu, W., Wang, R., Tan, M.: Disturbance rejection control for underwater free-floating manipulation. IEEE/ASME Trans. Mechatron. 27(5), 3742–3750 (2021)
Gao, L., Song, Y., Gao, J., Chen, Y.: Dynamic modeling and simulation an underwater vehicle manipulator system. In: 2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications(USYS), pp. 1–6. IEEE (2022)
Simoni, R., Rodriguez, P.R., Cieslak, P., Weihmann, L., Carboni, A.P.: Design and kinematic analysis of a 6-DOF foldable/deployable Delta parallel manipulator with spherical wrist for an I-AUV. In: OCEANS 2019-Marseille, pp. 1–10. IEEE (2019)
Zohedi, F.N., Aras, M.S.M., Kasdirin, H.A., Bahar, M.B., Aripin, M.K., Azis, F.A.: Modelling and controlling of Underwater Remotely Operated Vehicle vertical trajectory using Gradient Descent Algorithm Single Input Fuzzy Logic Controller and Fuzzy Logic Controller. In: 2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications(USYS), pp. 1–6. IEEE (2022)
Periasamy, T., Asokan, T., Singaperumal, M.: Controller design for manipulator trajectory control of an AUV-manipulator system. In: 2008 IEEE Region 10 and the Third international Conference on Industrial and Information Systems, pp. 1–6. IEEE (2008)
De Wit, C.C., Diaz, O.O., Perrier, M.: Nonlinear control of an underwater vehicle/manipulator with composite dynamics. IEEE Trans. Control Syst. Technol. 8(6), 948–960 (2000)
Sakagami, N.: Precise control of underwater vehicle manipulator systems using iterative learning control. In: 2009 ICCAS-SICE, pp. 3089–3093. IEEE (2009)
Lynch, B., Ellery, A.: Efficient control of an AUV-manipulator system: an application for the exploration of Europa. IEEE J. Oceanic Eng. 39(3), 552–570 (2013)
Dai, Y., Yu, S., Yan, Y.: An adaptive EKF-FMPC for the trajectory tracking of UVMS. IEEE J. Oceanic Eng. 45(3), 699–713 (2019)
Dai, Y., Yu, S., Yan, Y., Yu, X.: An EKF-based fast tube MPC scheme for moving target tracking of a redundant underwater vehicle-manipulator system. IEEE/ASME Trans. Mechatron. 24(6), 2803–2814 (2019)
Hildebrandt, M., Christensen, L., Kerdels, J., Albiez, J., Kirchner, F.: Realtime motion compensation for ROV-based tele-operated underwater manipulators. In: OCEANS 2009-EUROPE, pp. 1–6. IEEE (2009)
Cai, M., Wang, Y., Wang, S., Wang, R., Tan, M.: Autonomous manipulation of an underwater vehicle-manipulator system by a composite control scheme with disturbance estimation. IEEE Trans. Autom. Sci. Eng. (2023)
Featherstone, R.: Rigid body dynamics algorithms. Springer (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Li, Y., Yang, S., Xu, Y., Liu, J. (2023). Disturbance Rejection Fixed Point Control of DELTA Parallel Manipulator Mounted on Autonomous Underwater Vehicle. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_39
Download citation
DOI: https://doi.org/10.1007/978-981-99-6498-7_39
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6497-0
Online ISBN: 978-981-99-6498-7
eBook Packages: Computer ScienceComputer Science (R0)