You are here

Home » Content

Closed Loop Fuzzy/Lyapunov Control System for Planar Motion of Multiple Autonomous ROVs

Journal Name:

  • Journal of Control Engineering and Technology

Publication Year:

  • 2013

Key Words:

Author Name
Abstract (2. Language): 
This paper deal with planar motion control of multiple underactuated Remotely Operated Vehicles (ROVs) based on merging of Fuzzy/Lyapunov and kinetic controllers. A cooperative algorithm based on a decentralized planning algorithm which considers the underwater vehicles in an initial open chain configuration is developed. All the planned trajectories are intersections-free, and each trajectory is planned independently of the others. The fuzzy controller generates the surge speeds and the yaw rates of each ROV, to achieve the objective of the planar motion planned by the decentralized algorithm, and it ensures robustness with respect to perturbations of the marine environment, forward surge speed control and saturation of the control signals, while the kinetic controller generates the thruster surge forces and the yaw torques of all the ROVs. The Lyapunov’s stability of the equilibrium state of the closed loop motion control system is proved based on the properties of the Fuzzy maps for all the underwater vehicles, so that the stabilization of each vehicle in the planned trajectory is ensured. The validity of this control algorithm is supported by simulation experiments.
Bookmark/Search this post with
FULL TEXT (PDF): 
PDF icon arastrmx_153796_3_pp_50-60.pdf
  • 2
50-60
  • English

REFERENCES

References: 

[1] G. Antonelli, T.I. Fossen, D.R. Yoerger, “Underwater
Robotics”, Springer Handbook of Robotics (B. Siciliano and
O. Khatib Eds), 2008, pp. 987-1008, Springer Verlag Berlin
Heidelberg.
[2] F.M. Raimondi, M. Melluso, “Trajectory Decentralized Fuzzy
Control of Multiple UAVs”, Proceedings of IEEE
International Conference on Advanced Motion Control, 2008,
pp. 455-461, Trento (Italy).
[3] F.M. Raimondi, M. Melluso, “Fuzzy Adaptive EKF Motion
Control for Non-holonomic and Underactuated Cars with
Parametric and Non parametric Uncertainties”, IET Control
Theory and Applications, Vol. 1, Issue 5, 2007, pp. 1311-1321.
[4] T.I. Fossen, “Guidance and Control of Oceanic Vehicles”,
New York, Weeley, 1994.
[5] V. Dobref, O. Tarabuta, “Thrust Optimization of an
Underwater Vehicle‟s Propulsion System” Annals of the
Oradea University, Fascicle of Management and Tecnical
Engineering, Vol. 6, 2007, pp. 644-651.
[6] N. Miskovic, Z. Vukic, M. Barisic, “Identification of
Underwater Vehicles for the Purpose of Autopilot Tuning”, in
Underwater Vehicles (Alexsander V. Inzartsev Ed), 2009, pp.
327-347, In-tech.
[7] K.P. Valavanis, D. Gracanin, M. Matijasevic, R. Kolluru, G.A.
Demetriou, “Control Architectures for Autonomous
Underwater Vehicles”, IEEE Control Systems Magazine, Vol.
17, Issue 6, 1997, pp. 48-64.
[8] M. Caccia, G. Verruggio, “Guidance and Control of a
Reconfigurable Unmanned Underwater Vehicle”, Control
Engineering Practice, Elsevier, Vol. 8, Issue 1, 2000, pp. 21-
37.
[9] M. Caccia, “Vision based ROV horizontal motion control :
Near-seafloor experimental results”, Control Engineer
Practice, Elsevier, Vol. 15, Issue 6, 2007, pp. 703-714.
[10] M. Aicardi, G. Casalino, G. Indiveri, “Planar motion Steering
of underwater vehicles by exploiting drag coefficient
modulation” Proceedings of the 2001 IEEE International
Conference on Robotics and Automation, 2001, Seoul, Korea.
[11] A. Pedro Aguiar, J. Almeida, M. Bayat, B. Cardeira, R. Cuna,
A. Hausler, P. Maurya, A. Oliveira, A. Pascoal, A. Pereira, M.
0 5 10 15 20
-200
0
200
tau
uc1
0 5 10 15 20
-5
0
5
t[s]
tau
rc1
0 5 10 15 20 25
-200
0
200
tau
uc2
0 5 10 15 20 25
-5
0
5
t[s]
tau
rc2
0 5 10 15 20
-4
-2
0
2
e
x
[m]
0 5 10 15 20
-5
0
5
t[s]
e
y
[m]
Journal of Control Engineering and Technology (JCET)
JCET Vol. 3 Iss. 2 April 2013 PP. 50-60 www.ijcet.org ○C American V-King Scientific Publishing
60
Rufino, L. Sebastiao, C. Silvestre, F. Vanni, “Cooperative Control of Multiple Marine Vehicles: Theoretical challenges and Practical Issues”, Proceedings of MCMC 2009, 8th conference on Manoeuvring and Control of marine Craft, 2009, Guaruia (SP).
[12] R. Ghabcheloo, A.P. Aguiar, A.M. Pascoal, C. Silvestre, I. Caminer, J.P. Hespana,“Coordinate path following in the presence of comunication losses and time delays”, Siam Journal on Control and Optimization, Vol. 48, Issue 1, 2009, pp. 234-265.
[13] F. Vanni, A.P. Aguiar, A.M. Pascoal, “Cooperative path following of underactuated autonomous marine vehicles with logic-based communication”, Proceedings of NGCUV’08, IFAC Workshop on Navigation Guidance and Control of Underwater Vehicles, Killaloe, Ireland, 2008.
[14] I.S Akkizidis, G.N Roberts, P. Ridao, Batlle J., “Designing a Fuzzy-like PD Controller for an Underwater Robot”,Control Engineering Practice, Elsevier, Vol. 11, 2007, pp. 471-480.
[15] F.M Raimondi, M. Melluso, “Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs”, ARS International Journal of Advanced Robotic Systems, Vol. 7, Issue 2, 2010, pp. 139-159.
[16] P. Ridao, E. Battle, D. Ribas, M. Carreras, “Simulator of Multiple UUVs”, Proceedings of IEEE International Conference on Oceans 04, 2004, pp.524-531.
[17] E. Bicho, S. Monteiro, “Formation control of multiple mobile robots: a non-linear attractor dynamics approach”, Proceedings of IEEE International Conference on Intelligent Robots and Systems, 2003.

Thank you for copying data from http://www.arastirmax.com