Article
Automation & Control Systems
Fujie Yu, Qingzhong Li, Yao Wang, Yuan Chen
Summary: This paper presents a new approach for redundancy resolution in underwater vehicle-manipulator systems (UVMSs). It utilizes motion coordination and dexterous manipulation to ensure tracking accuracy of the end-effector and avoid singular configurations of the manipulator. The task-priority redundancy resolution framework is employed to achieve effective coordinated motion while making use of the available redundant degrees of freedom. Experimental results demonstrate that the proposed approach greatly enhances the dexterity and coordination of the UVMS.
Article
Automation & Control Systems
Mingxue Cai, Yu Wang, Shuo Wang, Rui Wang, Long Cheng, Min Tan
Summary: This article presents a novel STFC framework for UVMS using NMPC method, C/GMRES algorithm, and TD to alleviate computational burden and system noise. By predicting future seabed terrain using a depth gauge and an altimeter, the tracking accuracy of the system is improved.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Automation & Control Systems
Yu Wang, Mingxue Cai, Shuo Wang, Xuejian Bai, Rui Wang, Min Tan
Summary: Robots have the potential to assist and complement humans in hostile environments. Researchers have designed a lightweight and portable underwater robot, propelled by flexible flippers instead of traditional propellers or jet-based propulsion systems. The robot features six flipper propulsors, a four-degree-of-freedom arm, and onboard sensors for environment perception. The capabilities of the robot have been validated through experiments in laboratory and real sea conditions.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Engineering, Marine
Hong-Du Wang, Yun-Xiang Zhai, Umer Hameed Shah, Mansour Karkoub, Ming Li
Summary: In this paper, an adaptive fuzzy control design problem is investigated for an underwater vehicle manipulator system based on a fuzzy performance observer and fuzzy disturbance observer. A novel pre-deadzone compensator is proposed to mitigate the dead-zone and hysteresis effects. Fuzzy logic systems with online adaptations are utilized to evaluate the unknown components of the system, and an H infinity fuzzy control technique is developed to reduce errors in estimating external disturbances. The stability and tracking performance of the closed-loop system are analyzed using Lyapunov stability theory, showing that all signals are uniformly ultimately bounded. Simulations demonstrate the effectiveness of the proposed control scheme in addressing the tracking control problem of the underwater vehicle manipulator system.
Article
Engineering, Civil
Anil Kumar Sharma, Subir Kumar Saha
Summary: This article presents a simplified modeling of drag forces for underwater manipulators, using velocity distribution over the body's surface to determine drag. The method was found to be in good agreement with experimental results when simulating a two-link manipulator. Compared to strip theory, this approach eliminates the need for numerical integration or discretization, providing a more efficient alternative.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2021)
Article
Engineering, Marine
Zongyu Chang, Yang Zhang, Zhongqiang Zheng, Lin Zhao, Kunfan Shen
Summary: The UVMS is a versatile system for various underwater tasks, and this study on dynamic simulation during grasping process reveals that coupling dynamics between the vehicle and manipulator deteriorate positioning accuracy, but can be compensated for with vehicle control.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
Article
Engineering, Mechanical
Fujie Yu, Qilong Zhu, Yuan Chen
Summary: This article proposes an adaptive fractional-order fast-terminal-type sliding mode control method to solve the trajectory tracking problem of the underwater vehicle-manipulator system. The method improves the control continuity and accuracy by introducing a modified fractional-order sliding mode control scheme and an auto-tuning law of switching gains. The superiority of the proposed method is validated through comparative simulations.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2023)
Article
Automation & Control Systems
Xuejian Bai, Yu Wang, Rui Wang, Shuo Wang, Min Tan
Summary: Motivated by the requirement for developing a lightweight and nimble underwater vehicle-manipulator system (UVMS), this article presents a novel design of the overall framework and functional modules for a flippers-driven UVMS (F-UVMS). The study focuses on the material properties and flexible deformation to derive the dynamic model of the flexible flipper and analyze its hydrodynamic characteristics. The results show that the flexible flipper has higher propulsion efficiency compared to a rigid flipper.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Mingxue Cai, Yu Wang, Shuo Wang, Rui Wang, Min Tan
Summary: This article presents a composite control scheme for an underwater vehicle-manipulator system to address autonomous manipulation in the presence of unknown disturbance. The proposed approach combines a disturbance observer, predictor model network, and nonlinear model predictive control to improve the control performance. Realistic simulation and experiments demonstrate the effectiveness of the method.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Marine
Yong Dai, Hongwei Gao, Shuanghe Yu, Zhaojie Ju
Summary: This paper presents a novel robust fast tube model predictive control scheme for controlling the MIMO underwater vehicle-manipulator system, which combines fast MPC and tube sliding mode control law to achieve effective control.
Article
Robotics
Guillaume Picard, Roland Lenain, Youcef Mezouar, Benoit Thuilot, Jean Laneurit
Summary: This letter introduces a generic coordination approach for controlling mobile manipulators, which is based on external coupled coordination and utilizes a multi-trajectory following method. The method minimizes the cost function to manage system redundancies and adjusts the criteria of the cost function based on the assigned task to the robot. The effectiveness of the method is demonstrated through simulations and experiments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Mingxue Cai, Shuo Wang, Yu Wang, Rui Wang, Min Tan
Summary: This article introduces a coordinated vehicle-manipulator control method for an underwater biomimetic vehicle-manipulator system, utilizing various algorithms to achieve practical floating autonomous manipulation. Experimental results confirm the feasibility of the proposed control strategy.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Engineering, Marine
Xinyang Xiong, Xianbo Xiang, Zhao Wang, Shaolong Yang
Summary: In this paper, a novel evaluation framework based on angular and linear dynamic coupling factors is developed to investigate the complex dynamic coupling effects of the underwater vehicle-dual manipulator system (UVDMS). The complete dynamic coupling model of UVDMS is derived, and angular and linear dynamic coupling factors are developed to numerically reflect the influence of manipulator movement on the acceleration response of the vehicle. Simulation studies are conducted to analyze the effects of various parameters on the dynamic coupling effects, and the relationship between joint configurations and coupling effects is investigated.
Article
Engineering, Civil
Shahab Heshmati-Alamdari, Charalampos P. Bechlioulis, George C. Karras, Kostas J. Kyriakopoulos
Summary: The article presents a cooperative object transportation method for multiple underwater vehicle manipulator systems, where implicit communication is achieved through physical interaction between robots. A distributed leader-follower architecture is proposed, where the leading UVMS and following UVMS use different control methods for tracking the object's trajectory, relying on force/torque measurements for feedback, reducing communication bandwidth and increasing system robustness.
IEEE JOURNAL OF OCEANIC ENGINEERING
(2021)
Article
Engineering, Marine
Xinhui Zheng, Qiyan Tian, Qifeng Zhang
Summary: As humans show increasing interest in ocean resources, underwater vehicle-manipulator systems (UVMSs) are playing a vital role in ocean exploitation. To address the challenges of precise operation in underwater narrow spaces, a fly arm underwater vehicle manipulator system (FAUVMS) with manipulators as its core has been proposed. However, this system faces dynamic coupling effects due to the combination of small vehicles and big manipulators. To overcome this, a robust adaptive controller combining an extended Kalman filter (EKF) for state estimation and prediction of disturbances, and a chattering-free sliding mode control (SMC) for error convergence, has been proposed. Simulation results demonstrate that the proposed method outperforms traditional methods in terms of convergent speed, robustness, adaptiveness, and tracking accuracy.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Wanqiang Xi, Yaoyao Wang, Bai Chen, Hongtao Wu
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2019)
Article
Engineering, Electrical & Electronic
Hao Guo, Feng Ju, Yanfei Cao, Fei Qi, Dongming Bai, Yaoyao Wang, Bai Chen
SENSORS AND ACTUATORS A-PHYSICAL
(2019)
Article
Instruments & Instrumentation
Feng Ju, Yaming Wang, Zhao Zhang, Yaoyao Wang, Yahui Yun, Hao Guo, Bai Chen
SMART MATERIALS AND STRUCTURES
(2019)
Article
Engineering, Marine
Binbin Li, Yaoyao Wang, Kangwu Zhu, Bai Chen, Hongtao Wu
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART M-JOURNAL OF ENGINEERING FOR THE MARITIME ENVIRONMENT
(2020)
Article
Automation & Control Systems
Yaoyao Wang, Kangwu Zhu, Bai Chen, Maolin Jin
Article
Acoustics
Shengzheng Kang, Hongtao Wu, Xiaolong Yang, Yao Li, Yaoyao Wang
JOURNAL OF VIBRATION AND CONTROL
(2020)
Article
Automation & Control Systems
Shengzheng Kang, Hongtao Wu, Xiaolong Yang, Yao Li, Yaoyao Wang
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2020)
Article
Automation & Control Systems
Surong Jiang, Yaoyao Wang, Binbin Li, Bai Chen, Daren Hua
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2020)
Article
Multidisciplinary Sciences
Jiafeng Yao, Zheng Wang, Minghao Yu, Yaoyao Wang, Bai Chen, Hongtao Wu
Article
Automation & Control Systems
Jinbo Zhao, Yaoyao Wang, Dan Wang, Feng Ju, Bai Chen, Hongtao Wu
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2020)
Article
Engineering, Mechanical
Yadong Ding, Yaoyao Wang, Feng Ju, Bai Chen
TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING
(2020)
Article
Automation & Control Systems
Yaoyao Wang, Fei Yan, Surong Jiang, Bai Chen
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2020)
Article
Robotics
Yaoyao Wang, Rui Zhang, Feng Ju, Jinbo Zhao, Bai Chen, Hongtao Wu
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
(2020)
Article
Computer Science, Interdisciplinary Applications
Yaoyao Wang, Lufang Liu, Jiawang Chen, Feng Ju, Bai Chen, Hongtao Wu
ADVANCES IN ENGINEERING SOFTWARE
(2020)
Article
Automation & Control Systems
Yaoyao Wang, Lufang Liu, Dan Wang, Feng Ju, Bai Chen
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2020)
