Skip to main content
Springer Nature Link
Log in

Motion and force control with a nonlinear force error filter for underwater vehicle-manipulator systems

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

This paper deals with a control scheme for autonomous underwater robots equipped with manipulators. Several motion and force controllers have been developed. Most of them were designed in disregard of the dynamics of marine thrusters to develop a controller with a simple structure. However, the robot body propelled by thrusters generally has a considerably slower time response than the manipulator driven by electrical motors. Therefore, it may be difficult to construct a high-gain feedback control system to achieve a good control performance, because the high gain may excite the slow thruster dynamics ignored in the controller design, and the excitation will degrade the control performance. In this paper, we develop a motion and force controller for mathematical models with the dynamics of thrusters. It includes a nonlinear force error filter which allows us to construct a stable motion and force control system. To investigate its control performance, we conducted numerical simulations for comparing the proposed control scheme with an existing control scheme designed in disregard of the thruster dynamics. Simulation results demonstrate the usefulness of the proposed controller.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Antonelli G (2003) Underwater robots: motion and force control of vehicle-manipulator systems. Springer, Berlin

    Book  MATH  Google Scholar 

  2. Antonelli G, Caccavale F, Chiaverini S, Villani L (2000) Tracking control for underwater vehicle-manipulator systems with velocity estimation. IEEE J Oceanic Eng 25(3):399–413

    Article  Google Scholar 

  3. Lee M, Choi HS (2000) A robust neural controller for underwater robot manipulators. IEEE Trans Neural Netw 11(6):1465–1470

    Article  Google Scholar 

  4. Canudas de Wit C, Olguin Diaz E, Perrier M (2000) Nonlinear control of an underwater vehicle/manipulator with composite dynamics. IEEE Trans Control Syst Technol 8(6):948–960

    Article  Google Scholar 

  5. Sarkar N, Podder TK (2001) Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization. IEEE J Ocean Eng 26(2):228–239

    Article  Google Scholar 

  6. Yatoh T, Sagara S, Tamura M (2008) Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator. Artif Life Robot 13(1):377–381

    Article  Google Scholar 

  7. Han J, Park J, Chung WK (2011) Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments. Ocean Eng 38(10):1197–1206

    Article  Google Scholar 

  8. Santhakumar M, Kim J (2012) Indirect adaptive control of an autonomous underwater vehicle-manipulator system for underwater manipulation tasks. Ocean Eng 54:233–243

    Article  Google Scholar 

  9. Xu B, Pandian SR, Sakagami N, Petry F (2012) Neuro-fuzzy control of underwater vehicle-manipulator systems. J Franklin Inst 349(3):1125–1138

    Article  MathSciNet  MATH  Google Scholar 

  10. Santhakumar M, Kim J (2015) Coordinated motion control in task space of an autonomous underwater vehicle-manipulator system. Ocean Eng 104:155–167

    Article  Google Scholar 

  11. Esfahani HN, Azimirad V, Danesh M (2015) A time delay controller included terminal sliding mode and fuzzy gain tuning for underwater vehicle-manipulator systems. Ocean Eng 107:97–107

    Article  Google Scholar 

  12. Antonelli G, Chiaverini S, Sarkar N (2001) External force control for underwater vehicle-manipulator systems. IEEE Trans Robot Autom 17(6):931–938

    Article  Google Scholar 

  13. Cui Y, Yuh J (2003) A unified adaptive force control of underwater vehicle-manipulator systems (UVMS). In: Proceedings of IEEE/RSJ international conference of intelligent robots and systems, pp 553–558

  14. Olguin Diaz E, Arechavaleta G, Jarquin G, Parra-Vega V (2013) A passivity-based model-free force-motion control of underwater vehicle-manipulator systems. IEEE Trans Robot 29(6):1469–1484

    Article  Google Scholar 

  15. Farivarnejad H, Moosavian SAA (2014) Multiple impedance control for object manipulation by a dual arm underwater vehicle-manipulator system. Ocean Eng 89:82–98

    Article  Google Scholar 

  16. Taira Y, Oya M, Sagara S (2010) An adaptive controller for underwater vehicle-manipulator systems including thruster dynamics. In: Proceedings of international conference on modelling, identification and control, pp 185–190

  17. Taira Y, Oya M, Sagara S (2012) Adaptive control of underwater vehicle-manipulator systems using radial basis function networks. Artif Life Robot 17(1):123–129

    Article  Google Scholar 

  18. Taira Y, Sagara S, Oya M (2015) Robust controller with a fixed compensator for underwater vehicle-manipulator systems including thruster dynamics. Int J Adv Mechatron Syst 6(6):258–268

    Article  Google Scholar 

  19. Korkmaz O, Ider SK, Ozgoren MK (2016) Trajectory tracking control of an underactuated underwater vehicle redundant manipulator system. Asian J Control 18(5):1593–1607

    Article  MathSciNet  MATH  Google Scholar 

  20. Taira Y, Sagara S, Oya M (2017) Design of a motion and force controller for underwater vehicle-manipulator systems including thruster dynamics. In: Proceedings of 22nd international symposium artificial life and robotics, pp 872–877

  21. Arimoto S (1996) Control theory of non-linear mechanical systems: a passivity-based and circuit-theoretic approach. Oxford University Press, New York

    MATH  Google Scholar 

  22. Yoerger DR, Cooke JG, Slotine JJE (1990) The influence of thruster dynamics on underwater vehicle behavior and their incorporation into control system design. IEEE J Ocean Eng 15(3):167–178

    Article  Google Scholar 

  23. Krstic M, Kanellakopoulos I, Kokotovic P (1995) Nonlinear and adaptive control design. Wiley, New York

    MATH  Google Scholar 

  24. Yuan J (1997) Adaptive control of a constrained robot-ensuring zero tracking and zero force errors. IEEE Trans Autom Control 42(12):1709–1714

    Article  MathSciNet  MATH  Google Scholar 

  25. Ioannou PA, Sun J (1996) Robust adaptive control. Prentice Hall, New Jersey, p 75

    MATH  Google Scholar 

  26. Kim J, Chung WK (2006) Accurate and practical thruster modeling for underwater vehicles. Ocean Eng 33(5–6):566–586

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Sojo University, 4-22-1 Ikeda, Nishi-ku, Kumamoto, 860-0082, Japan

    Yuichiro Taira

  2. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu, 804-8550, Japan

    Shinichi Sagara & Masahiro Oya

Authors
  1. Yuichiro Taira
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Shinichi Sagara
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Masahiro Oya
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Yuichiro Taira.

Additional information

This work was presented in part at the 22nd International Symposium on Artificial Life and Robotics, Beppu, Oita, January 19–21, 2017.

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Taira, Y., Sagara, S. & Oya, M. Motion and force control with a nonlinear force error filter for underwater vehicle-manipulator systems. Artif Life Robotics 23, 103–117 (2018). https://doi.org/10.1007/s10015-017-0400-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-017-0400-3

Keywords