Positioning Control of an Underwater Robot with Tilting Thrusters via Decomposition of Thrust Vector

被引:10
作者
Bak, Jeongae [1 ]
Nguyen, Hai-Nguyen [1 ]
Park, Sangyul
Lee, Dongjun [1 ]
Seo, TaeWon [2 ]
Jin, Sangrok [1 ]
Kim, Jongwon [1 ]
机构
[1] Seoul Natl Univ, Sch Mech & Aerosp Engn, 1,Gwanak Ro, Seoul 08826, South Korea
[2] Yeungnam Univ, Sch Mech Engn, 280,Daehak Ro, Gyongsan 38541, Gyeongsangbuk D, South Korea
基金
新加坡国家研究基金会;
关键词
Decomposition; positioning control; tilting thruster; underwater robot; PLATFORM;
D O I
10.1007/s12555-016-0298-x
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Positioning control of an underwater robot is a challenging problem due to the high disturbances of ocean flow. To overcome the high disturbance, a new underwater robot with tilting thrusters was proposed previously, which can compensate for disturbance by focusing the thrusting force in the direction of the disturbance. However, the tilting motion of the thrusters makes the system nonlinear, and the limited tilting speed sometimes makes the robot unstable. Therefore, an optimized controller is necessary. A new positioning controller is proposed for this robot using a vector decomposition method. Based on the dynamic model, the nonlinear force input term of the tilting thrusters is decomposed in the horizontal and vertical directions. Based on the decomposition, the solution is determined by a pseudo-inverse and null-space solution. Using the characteristics of the decomposed input matrix, the final solution can be found by solving a simple second-order algebraic equation to overcome the limitations of the tilting speed. The positioning was simulated to validate the proposed controller by comparing the results with a switching-based controller. Tracking results are also presented. In future work, a high-level control strategy will be developed to take advantage of the tilting thrusters by focusing the forcing direction toward the disturbance with a limited stability margin.
引用
收藏
页码:2283 / 2291
页数:9
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