Internal actuation of underwater robots using control moment gyros
Internal actuation of underwater robots using control moment gyros
A novel control scheme based on internal actuation using Control Moment Gyros (CMGs) is proposed as the basis of an unrestricted attitude control system suitable for application to Autonomous Underwater Vehicles (AUVs). The coupled dynamic equations of a CMG actuated underwater robot are derived, taking into account interactions with the fluid environment. A nonlinear feedback control law is developed based on energy considerations of the coupled system. Singularities, redundancy and motion are discussed in the context of CMGs and a mathematical escapability condition is developed based on the differential geometry of motion. A geometric study of a CMG pyramid's singularities forms the basis of a global steering law that guarantees real-time singularity avoidance whilst maintaining exactness in some constrained workspace. The practical design considerations of a CMG pyramid developed for a laboratory scale underwater robot are discussed. Finally the results of practical experiments using the CMG pyramid are presented to demonstrate the steering and control performance of the system.
attitude control, differential geometry, hydraulic actuators, nonlinear control systems, oceanographic techniques, underwater vehicles
0780391039
591-598
Thornton, Blair
6c940407-7c96-4d5e-989c-b9cffa559d7b
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b
Nose, Yoshiake
4f7541db-1931-4d6d-8b5f-8bd071fa352e
Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
2005
Thornton, Blair
6c940407-7c96-4d5e-989c-b9cffa559d7b
Ura, Tamaki
b8fea5ba-e731-40fd-8544-1db1ca9f356b
Nose, Yoshiake
4f7541db-1931-4d6d-8b5f-8bd071fa352e
Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Thornton, Blair, Ura, Tamaki, Nose, Yoshiake and Turnock, Stephen R.
(2005)
Internal actuation of underwater robots using control moment gyros.
In Oceans 2005 - Europe.
IEEE.
.
(doi:10.1109/OCEANSE.2005.1511781).
Record type:
Conference or Workshop Item
(Paper)
Abstract
A novel control scheme based on internal actuation using Control Moment Gyros (CMGs) is proposed as the basis of an unrestricted attitude control system suitable for application to Autonomous Underwater Vehicles (AUVs). The coupled dynamic equations of a CMG actuated underwater robot are derived, taking into account interactions with the fluid environment. A nonlinear feedback control law is developed based on energy considerations of the coupled system. Singularities, redundancy and motion are discussed in the context of CMGs and a mathematical escapability condition is developed based on the differential geometry of motion. A geometric study of a CMG pyramid's singularities forms the basis of a global steering law that guarantees real-time singularity avoidance whilst maintaining exactness in some constrained workspace. The practical design considerations of a CMG pyramid developed for a laboratory scale underwater robot are discussed. Finally the results of practical experiments using the CMG pyramid are presented to demonstrate the steering and control performance of the system.
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More information
Published date: 2005
Venue - Dates:
Oceans '05 Conference, Brest, France, 2005-06-20 - 2005-06-23
Keywords:
attitude control, differential geometry, hydraulic actuators, nonlinear control systems, oceanographic techniques, underwater vehicles
Identifiers
Local EPrints ID: 23349
URI: http://eprints.soton.ac.uk/id/eprint/23349
ISBN: 0780391039
PURE UUID: a2c2415e-95ea-4b5e-b6c8-b7db497f3577
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Date deposited: 24 Mar 2006
Last modified: 16 Mar 2024 02:37
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Contributors
Author:
Blair Thornton
Author:
Tamaki Ura
Author:
Yoshiake Nose
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