Underwater robots. Motion and force control of vehicle-manipulator systems.
type: Item
instance of: scholarly article
title: Underwater robots. Motion and force control of vehicle-manipulator systems.
zbMATH Open document ID: 1049.93001
author: Gianluca Antonelli
published in: Springer Tracts in Advanced Robotics
publication date: 2003-06-24T00:00:00Z
review text: This book deals with underwater robots, their motions, force control and manipulation tasks. The manipulator is mounted on an autonomous vehicle and undergoing strongly nonlinear hydrodynamic effects. The sensory system of the vehicle must deal with a noisy and unstructured environment; the underwater electromagnetic transmission is impossible and visibility is generally poor. So from the control point of view, the underwater robots are much more challenging compared to ground robots. The book contains a wide list of underwater robots (AUVs) control problems. The mathematical model of the AUVs takes into account hydrodynamic effects on a rigid body moving in a fluid. The fluid influence is based on the concepts of an added mass, which is considered like a function of surface geometry. The added mass has also an added Coriolis and centripetal contribution. All this permits the author to reduce the AUVs' dynamics to the dynamics of rigid bodies system and avoid the complexity of difficult fluidodynamics. The author considers robotic systems with kinematic redundancy. The redundancy is useful to achieve end-effector tracking accuracy and at the same time guarantee additional energy saving and increase system manipulability. The author considers a sliding mode controller, an adaptive controller, an output-feedback controller, a virtual decomposition-based adaptive controller. The stability analysis is established using the Lyapunov stability technique. The author presents natural and digital simulations. Because the underwater environment is hostile, the sensing devices are not fully reliable in the underwater environment, so the mathematical model deals with characteristics which lead to coupled and nonlinear differential equations, where the hydrodynamic effects are not completely known. The realization of AUVs is a complex scientific problem of significant importance. And this book is a step forward in studying them.
Mathematics Subject Classification ID: 93-02
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93B12
zbMATH DE Number: 1934213
zbMATH Keywords: underwater robots
zbMATH Keywords: force control
zbMATH Keywords: manipulation tasks
zbMATH Keywords: nonlinear hydrodynamic effects
zbMATH Keywords: kinematic redundancy
zbMATH Keywords: adaptive controller
zbMATH Keywords: Lyapunov stability technique
zbMATH Keywords: rigid body moving in a fluid
zbMATH Keywords: sliding mode
reviewed by: Yuri N. Sankin
MaRDI profile type: Publication
cites work: Asymptotic stabilization of some equilibria of an underactuated underwater vehicle
cites work: Stability of a bottom-heavy underwater vehicle
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description: scientific article; zbMATH DE number 1934213