Six-Degree-of-Freedom Hovering Control of an Underwater Robotic Platform With Four Tilting Thrusters via Selective Switching Control

被引：64

作者：

Jin, Sangrok ^{[1
]}

Kim, Jihoon ^{[1
]}

Kim, Jongwon ^{[1
]}

Seo, TaeWon ^{[2
]}

机构：

[1] Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 151744, South Korea

[2] Yeungnam Univ, Sch Mech Engn, Kyongsan 712749, South Korea

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2015年 / 20卷 / 05期

基金：

新加坡国家研究基金会;

关键词：

Hovering motion; underwater robot; remotely operated vehicle (ROV); switching control; tilting thruster; DESIGN;

D O I：

10.1109/TMECH.2014.2378286

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We introduce a new underwater robotic platform with a tilting thruster mechanism for hovering motion. The tilting thruster mechanism can implement six-degree-of-freedom (DOF) motion with only four thrusters, but tilting motion makes the system nonlinear. We designed a selective switching controller in order to solve the nonlinear problem, and applied it to the robot system. The selective switching controller divides the six-DOF system into two three-DOF subsystems, and switches between subcontrollers according to the error in real time. Dynamic models of a robotic platform and a disturbance model of an attached manipulator are derived for the control design. Using simulation, the stability condition of control is determined, and the validity of the derived dynamic model of the robotic platform and manipulator is verified through comparison between simulation and experiment. A hovering experiment under a disturbance from the manipulator is performed to verify the robustness of the controller. The experimental results validate the successful hovering ability of the proposed robot.

引用

页码：2370 / 2378

页数：9

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