A robust non‐linear MPC framework for control of underwater vehicle manipulator systems under high‐level tasks
Abstract Over the last years, the development and control of Autonomous Underwater Vehicles with attached robotic manipulators, also called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention. In such applications, feedback controllers which guarantee that the end...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-02-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12045 |
| _version_ | 1828374241397964800 |
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| author | Alexandros Nikou Christos K. Verginis Shahab Heshmati‐alamdari Dimos V. Dimarogonas |
| author_facet | Alexandros Nikou Christos K. Verginis Shahab Heshmati‐alamdari Dimos V. Dimarogonas |
| author_sort | Alexandros Nikou |
| collection | DOAJ |
| description | Abstract Over the last years, the development and control of Autonomous Underwater Vehicles with attached robotic manipulators, also called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention. In such applications, feedback controllers which guarantee that the end‐effector of the UVMS is fulfilling desired complex tasks should be designed in a way that state and input constraints are taken into consideration. Furthermore, due to their complicated structure, unmodeled dynamics as well as external disturbances may arise. Complex tasks can be conveniently given in the so‐called Linear Temporal Logic (LTL). Motivated by this, the authors develop a combined abstraction and control synthesis framework in which, given the uncertain kinematics/dynamics of the UVMS, a workspace divided into Regions of Interest and a desired LTL task, a sequence of feedback control laws that probably guarantee the LTL formula is provided. The proposed controller falls within the tube‐based non‐linear model predictive control methodology and can handle the rich expressivity of LTL in both safety and reachability specifications. Numerical simulations verify the validity of the proposed framework. |
| first_indexed | 2024-04-14T07:30:01Z |
| format | Article |
| id | doaj.art-48f187613afe4088b3706f4b201a4cb2 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-14T07:30:01Z |
| publishDate | 2021-02-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-48f187613afe4088b3706f4b201a4cb22022-12-22T02:05:53ZengWileyIET Control Theory & Applications1751-86441751-86522021-02-0115332333710.1049/cth2.12045A robust non‐linear MPC framework for control of underwater vehicle manipulator systems under high‐level tasksAlexandros Nikou0Christos K. Verginis1Shahab Heshmati‐alamdari2Dimos V. Dimarogonas3Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SwedenDivision of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SwedenDivision of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SwedenDivision of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SwedenAbstract Over the last years, the development and control of Autonomous Underwater Vehicles with attached robotic manipulators, also called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention. In such applications, feedback controllers which guarantee that the end‐effector of the UVMS is fulfilling desired complex tasks should be designed in a way that state and input constraints are taken into consideration. Furthermore, due to their complicated structure, unmodeled dynamics as well as external disturbances may arise. Complex tasks can be conveniently given in the so‐called Linear Temporal Logic (LTL). Motivated by this, the authors develop a combined abstraction and control synthesis framework in which, given the uncertain kinematics/dynamics of the UVMS, a workspace divided into Regions of Interest and a desired LTL task, a sequence of feedback control laws that probably guarantee the LTL formula is provided. The proposed controller falls within the tube‐based non‐linear model predictive control methodology and can handle the rich expressivity of LTL in both safety and reachability specifications. Numerical simulations verify the validity of the proposed framework.https://doi.org/10.1049/cth2.12045Spatial variables controlMobile robotsManipulatorsFormal logicControl engineering computingRobot and manipulator mechanics |
| spellingShingle | Alexandros Nikou Christos K. Verginis Shahab Heshmati‐alamdari Dimos V. Dimarogonas A robust non‐linear MPC framework for control of underwater vehicle manipulator systems under high‐level tasks IET Control Theory & Applications Spatial variables control Mobile robots Manipulators Formal logic Control engineering computing Robot and manipulator mechanics |
| title | A robust non‐linear MPC framework for control of underwater vehicle manipulator systems under high‐level tasks |
| title_full | A robust non‐linear MPC framework for control of underwater vehicle manipulator systems under high‐level tasks |
| title_fullStr | A robust non‐linear MPC framework for control of underwater vehicle manipulator systems under high‐level tasks |
| title_full_unstemmed | A robust non‐linear MPC framework for control of underwater vehicle manipulator systems under high‐level tasks |
| title_short | A robust non‐linear MPC framework for control of underwater vehicle manipulator systems under high‐level tasks |
| title_sort | robust non linear mpc framework for control of underwater vehicle manipulator systems under high level tasks |
| topic | Spatial variables control Mobile robots Manipulators Formal logic Control engineering computing Robot and manipulator mechanics |
| url | https://doi.org/10.1049/cth2.12045 |
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