Kinematic control of an Autonomous Underwater Vehicle-Manipulator System (AUVMS) using autoregressive prediction of vehicle motion and Model Predictive Control

Woolfrey, J; Liu, D; Carmichael, M

Kinematic control of an Autonomous Underwater Vehicle-Manipulator System (AUVMS) using autoregressive prediction of vehicle motion and Model Predictive Control

Woolfrey, J

Liu, D

Carmichael, M

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2016, 2016-June pp. 4591 - 4596
Issue Date:: 2016-06-08

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Field	Value	Language
dc.contributor.author	Woolfrey, J https://orcid.org/0000-0001-5926-5669	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Carmichael, M https://orcid.org/0000-0001-8439-0074	en_US
dc.date.available	2016-01-15	en_US
dc.date.issued	2016-06-08	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2016, 2016-June pp. 4591 - 4596	en_US
dc.identifier.isbn	9781467380263	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/122768
dc.description.abstract	© 2016 IEEE. Autonomous Underwater Vehicle-Manipulator Systems (AUVMS) operating in shallow waters or near-surface environments may be exposed to wave disturbances which will cause undesired motion of the end effector. This paper presents a method to maneuver the manipulator joints and counteract undesired motion of the vehicle body, in order to maintain a steady end-effector position in the inertial frame. An Autoregressive (AR) model is used to predict vehicle motion, and then combined with Model Predictive Control (MPC) to optimize joint motion. Simulation was conducted using real data to verify the efficacy of this method.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP150100935
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.relation.isbasedon	10.1109/ICRA.2016.7487660	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Kinematic control of an Autonomous Underwater Vehicle-Manipulator System (AUVMS) using autoregressive prediction of vehicle motion and Model Predictive Control	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2016-June	en_US
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2016-June	en_US

Abstract:

© 2016 IEEE. Autonomous Underwater Vehicle-Manipulator Systems (AUVMS) operating in shallow waters or near-surface environments may be exposed to wave disturbances which will cause undesired motion of the end effector. This paper presents a method to maneuver the manipulator joints and counteract undesired motion of the vehicle body, in order to maintain a steady end-effector position in the inertial frame. An Autoregressive (AR) model is used to predict vehicle motion, and then combined with Model Predictive Control (MPC) to optimize joint motion. Simulation was conducted using real data to verify the efficacy of this method.

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http://hdl.handle.net/10453/122768