Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System | |
Cai, Mingxue; Wang, Yu; Wang, Shuo; Wang, Rui; Cheng, Long; Tan, Min | |
刊名 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
2019 | |
期号 | 无页码:无 |
关键词 | Seabed Terrain Following Control (STFC) Seabed Terrain Prediction Underwater Vehicle Control UVMS |
ISSN号 | 2168-2216 |
DOI | 10.1109/TSMC.2019.2944651 |
英文摘要 | This article addresses a problem of seabed terrain following control (STFC) for an underwater vehicle-manipulator system (UVMS). The motivation is to perform a visual search of marine products closely to seabed in unknown environment. In terms of this issue, we propose a novel and robust STFC framework for our UVMS to maintain an appropriate height to seabed. A nonlinear model predictive control (NMPC) method is formulated to solve the STFC problem. To relieve online computational burden and system noisy influence, Ohtsuka's continuation/generalized minimal residual (C/GMRES) algorithm incorporated with a tracking differentiator (TD) is investigated. In order to improve the following accuracy, the system state prediction part of the NMPC and a long short-term memory (LSTM) network are elaborated to predict future seabed terrain using a depth gauge and an altimeter, respectively. Finally, the three different physical scenarios for STFC problem are established using ROS to demonstrate the robustness and efficiency of the proposed algorithm. |
学科主题 | 工学 |
URL标识 | 查看原文 |
电子版国际标准刊号 | 2168-2232 |
出版地 | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
语种 | 英语 |
出版者 | IEEE |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/38547] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | Wang, Yu |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Cai, Mingxue,Wang, Yu,Wang, Shuo,et al. Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2019(无):无. |
APA | Cai, Mingxue,Wang, Yu,Wang, Shuo,Wang, Rui,Cheng, Long,&Tan, Min.(2019).Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System.IEEE Transactions on Systems, Man, and Cybernetics: Systems(无),无. |
MLA | Cai, Mingxue,et al."Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System".IEEE Transactions on Systems, Man, and Cybernetics: Systems .无(2019):无. |
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