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Model Predictive Control for Six Degrees-of-Freedom Station-Keeping of an Underwater Vehicle-Manipulator System
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Underwater robotics are a reliable and ecient mean for exploration and surveysin a submarine environment. Albeit, intervention tasks, e.g. installationand maintenance, require the expansive and hazardous deployment of professionaldivers. Lightweight unmanned underwater vehicles equipped with a multi-degreeof-freedom manipulator, have been proposed as an alternative. However, the controlof these vehicle-manipulator systems is challenging due to their non-linearhigh-dimensional coupled dynamics. The central problem explored in this thesis,is station keeping of an underwater vehicle under the inuence of a moving manipulator.The manipulator is represented by predictable disturbing forces andmoments. The proposed control scheme is a Model Predictive Control (MPC) algorithmwith preview of the disturbances. In simulation, performance of the MPCscheme is evaluated for dierent degrees of knowledge about the disturbances.Results are compared to a classical feedback controller.

Abstract [sv]

Undervattensrobotik medför ett pålitligt och effektivt sätt att utforska submarinamiljöer. Lätta obemannade undervattensfarkoster, utrustade med verktyg,har även föreslagits som ett alternativ till professionella dykare för installationoch underhåll under ytan. Styrning av verktygsutrustade farkoster är en utmaningdå de medför högdimensionell olinjär dynamik och korseffekter. Det centralaproblemet som behandlas i det här arbetet är reglering av en undervattensfarkostutrustad med en robotarm, vars rörelser stör farkosten. Robotarmen representerasav störande krafter och moment som går att förutsäga i modellramverket. Denföreslagna styrlagen är modell-prediktiv reglering (MPC) med störningsprediktion.Styrlagen utvärderas i simulering under olika vetskapsnivåer av störsignalen.Resultaten jämförs även med simuleringar där klassisk återkoppling används.

Place, publisher, year, edition, pages
2017. , p. 57
Series
TRITA-EE, ISSN 1653-5146 ; 2017:154
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-220907OAI: oai:DiVA.org:kth-220907DiVA, id: diva2:1172159
Educational program
Master of Science - Systems, Control and Robotics
Available from: 2018-01-10 Created: 2018-01-09 Last updated: 2018-01-10Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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Output format
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