It is always one of the most challenging problems to control an underwater robotics due to the complex external forces in an underwater environment. It is difficult to obtain an ideal control performance using linear control technologies due to highly nonlinear properties of system. A valid method of linearization for nonlinear system is provided in this study. Based on this linearized system, the linear control theories were therefore employed for the tracking control of underwater robotics. The panning and tilting motions of this underwater robotics can basically track two given sinusoidal references based on the simulation results. In order to achieve a high-speed manipulation of this underwater robotics, fluid forces have to be considered and modeled. A computational fluid dynamics (CFD) technology is adopted in order to obtain more precise hydrodynamic models for simulation at the design stage. Two torque models that represent the degree of freedoms (DOFs) of panning and tilting respectively have been developed using the CFD software. The dynamic model of this robotics used in this paper is the one by Ji, et al .
- Design Engineering Division and Computers in Engineering Division
Model-Based Optimal Control for Underwater Robotics
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Ji, Y, Amano, RS, & Perez, RA. "Model-Based Optimal Control for Underwater Robotics." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 3: 30th Computers and Information in Engineering Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 749-754. ASME. https://doi.org/10.1115/DETC2010-29056
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