- -

Control Libre de Modelo basado en Modos Deslizantes Integrales para Robots Submarinos Subactuados

RiuNet: Institutional repository of the Polithecnic University of Valencia

Share/Send to

Cited by

Statistics

Control Libre de Modelo basado en Modos Deslizantes Integrales para Robots Submarinos Subactuados

Show full item record

Raygosa Barahona, R.; Olguín Díaz, E.; Parra Vega, V.; Muñoz Ubando, L. (2015). Control Libre de Modelo basado en Modos Deslizantes Integrales para Robots Submarinos Subactuados. Revista Iberoamericana de Automática e Informática industrial. 12(3):313-324. https://doi.org/10.1016/j.riai.2015.04.004

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/143654

Files in this item

Item Metadata

Title: Control Libre de Modelo basado en Modos Deslizantes Integrales para Robots Submarinos Subactuados
Secondary Title: Model Free Control Based on Integral Sliding Modes for Underactuated Underwater Robots.
Author: Raygosa Barahona, R. Olguín Díaz, E. Parra Vega, V. Muñoz Ubando, L.A.
Issued date:
Abstract:
[EN] A combination of a model-free control law at the dynamic level and a guidance law at the kinematic level is proposed for the tracking of an underactuated underwater robot vehicle. The closed-loop system gives rise to ...[+]


[ES] Se propone la combinación de una ley de control libre de modelo dinámico, en conjunto con una ley de guiado cinemático, para el seguimiento de trayectorias actuadas de un vehículo robo‘tico submarino subactuado. El ...[+]
Subjects: Model-Free Control , Integral Sliding Mode Control , Underactuated Systems , Underwater Vehicles , Control Libre de Modelo , Modos Deslizantes Integrales , Sistemas Subactuados , Vehículo Submarino
Copyrigths: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Source:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.1016/j.riai.2015.04.004
Publisher:
Universitat Politècnica de València
Publisher version: https://doi.org/10.1016/j.riai.2015.04.004
Project ID:
CONACYT/#133346
CONACYT/#174597
CONACYT/#21969
Thanks:
Proyecto realizado parcialmente con financiamiento de los contratos #133346, #174597 y #21969 de CONACyT de México
Type: Artículo

References

Antoneilli, G., 2006. Underwater Robots. Springer.

Blanke, M., Lindegaard, K.P., Fossen, T.I., 2000. Dynamic model for thrust generation of marine propellers. presented at the Proc. IFAC Conf. Manoeuvreing of Marine Craft. Aalborg Denamark, Aug. 2000, pp. 23-25.

Breivik, M., Fossen, T., 2009. Guidance laws for autonomous underwater vehicles. In: In Intelligent Underwater Vehicles. I-Tech Education and Publishing (A. V. Inzartsev, Ed.), Vienna. [+]
Antoneilli, G., 2006. Underwater Robots. Springer.

Blanke, M., Lindegaard, K.P., Fossen, T.I., 2000. Dynamic model for thrust generation of marine propellers. presented at the Proc. IFAC Conf. Manoeuvreing of Marine Craft. Aalborg Denamark, Aug. 2000, pp. 23-25.

Breivik, M., Fossen, T., 2009. Guidance laws for autonomous underwater vehicles. In: In Intelligent Underwater Vehicles. I-Tech Education and Publishing (A. V. Inzartsev, Ed.), Vienna.

Brogliato, B., Lozano, R., Maschke, B., Egeland, O., 2007. Dissipative systems analysis and control: theory and applications, 2nd Edition.

Byrnes, C., Isidori, A., October 1991. Asymptotic stabilization of minimum phase nonlinear systems. IEEE Tansactions on Automatic Control 36 (10).

Chin, C., Lau, M., Low, E., Set, G., 2006. Software for modelling and simulation of a remotely-operated vehicle. Int. J. Simul. Model 5 (3), 114-125.

Chun Nan, Tong Ge, 2012. Model-free high order sliding controller for under-water vehicle with transient process. Advanced Materials Research 591-593.

Fossen, T., 2011. Handbook of marine craft hydrodynamics and motion control. John Wiley and Sons LTD, Institut for teknisk kybernetikk NTNU.

Healey, A., Leanard, D., July 1993. Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles. IEEE Journal of Oceanic Engineering, Vol. 18, No. 3, July 18 (3).

Krstic, M., Kanellakopoulos, I., Kokotovich, P., 1995. Nonlinear and Adaptive Control Design. John Wiley and Sons.

Leonard, N., 1997. Stability of a bottom-heavy underwater vehicle. Automatica 33 (3), 331-346.

Meirovich, L., 2003. Methods of Analytical Dynamics. Dover Publications, New York.

Olfati-Saber, R., February 2000. Nonlinear control of underactuated mechanical systems with applications to robotics and aerospace vehicles. Ph.D. thesis, M.I.T., Massachusetts.

Olguín-Díaz, E., Arechavaleta, G., Jarquin, G., Parra-Vega, V., December 2013. A passivity-based model-free force–motion control of underwater vehicle-manipulator systems. IEEE Transactions on Robotics 29 (6), 1469-1484.

Olguín-Díaz, E., Parra-Vega, V., 2007. On the force/posture control of a constrained submarine robot. In: 4th International Conference on Informatics in Control, Robotics and Automation, Conference Prodeedings.

Parra-Vega, V., Arimoto, S., Li, Y.-H., Hirzinger, G., Akella, P., December 2003. Dynamic sliding pid control for tracking of robot manipulators. IEEE Transactions on Robotic and Automation 19 (6), 967-976.

Perrier, M., Canudas de Wit, C., 1996. Experimental comparison of pid vs. pid plus nonlinear controller for subsea robots. In: Autonomous Robots. pp. 195-212.

Raygosa-Barahona, R., Parra-Vega, V., Olguín-Díaz, E., Munoz-Ubando, A., October 2011. A model-free backstepping with integral sliding mode control for underactuated rovs. In: Electrical Engineering Computing Science and Automatic Control (CCE), 8th International Conference on. pp. 1-7.

Sagatun, S., Fossen, T., 1991. Lagrangian formulation of underwater vehicles dynamics. In: Proceedings on International Conference on Systems, Man, and Cybernetics, IEEE. Noruega.

Smallwood, D.A., Whitcomb, L.L., 2001. Preliminary experiments in the adaptive identification of dynamically positioned underwater robotic vehicles. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 1803-1810.

Smallwood, D.A., Whitcomb, L.L., 2004. Model-based dynamic positioning of underwater robotic vehicles: Theory and experiment. IEEE Journal of Oceanic Engineering 29, 1.

Spong, M., 1994. Partial feedback linearization of underactuated mechanical systems. In: Intelligent Robots and Systems’94’Advanced Robotic Systems and the Real World’, IROS’94. Vol. 1. pp. 314-321 vol.1.

Tedrake, R., March 2010. Underactuated Robotics. MIT Press.

García-Valdovinos, L.G., Salgado, T., Torres, H., 2009. Model-free high order sliding mode control for rov: Station-keeping approach. In: Proceedings of the MTS/IEEE Oceans, pp. 1-7.

Whitcomb, L., Stephen, M., 2013. Preliminary experiments in fully actuated model based control with six degree-of-freedom coupled dynamic plant models for underwater vehicles. In: Proceedings of the IEEE International Conference on Robotics and Automation.

Yoerger, D., Slotine, J., 1991. Adaptive sliding control of an experimental underwater vehicle. In: Proceedings of the IEEE International Conference on Robotics and Automation.

[-]

This item appears in the following Collection(s)

Show full item record