Sliding Mode Impedance Control for contact intervention of an I-AUV: Simulation and experimental validation

Dai, P; Lu, W; Le, K; Liu, D

Sliding Mode Impedance Control for contact intervention of an I-AUV: Simulation and experimental validation

Dai, P

Lu, W Le, K Liu, D

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Publisher:: PERGAMON-ELSEVIER SCIENCE LTD
Publication Type:: Journal Article
Citation:: Ocean Engineering, 2020, 196
Issue Date:: 2020-01-15

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Field	Value	Language
dc.contributor.author	Dai, P https://orcid.org/0000-0003-0377-0775
dc.contributor.author	Lu, W
dc.contributor.author	Le, K
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582
dc.date.accessioned	2021-03-12T04:34:06Z
dc.date.available	2021-03-12T04:34:06Z
dc.date.issued	2020-01-15
dc.identifier.citation	Ocean Engineering, 2020, 196
dc.identifier.issn	0029-8018
dc.identifier.issn	1873-5258
dc.identifier.uri	http://hdl.handle.net/10453/147066
dc.description.abstract	© 2019 Elsevier Ltd Position/force control of an Intervention Autonomous Underwater Vehicle (I-AUV) is essential to many underwater intervention tasks (e.g., marine equipment maintenance, underwater welding and so on), and is challenging due to unknown fluid disturbances and model uncertainties. This paper applies the Sliding Mode Impedance Control (SMIC) to the full contact intervention of an I-AUV, from non-contact phase to contact phase. Both computational simulations and practical experiments are conducted to investigate the performance of SMIC. In simulations, considering model uncertainties and detailed fluid disturbances, accurate position and force tracking can be achieved, with the position tracking errors within ±3 × 10−3m and a Root Mean Square Error (RMSE) of 4 × 10−2N in tracking the desired contact force of 10N. For the purpose of experimental validation, the SMIC is implemented on an I-AUV developed in the University of Technology Sydney (UTS). The experimental results demonstrate the SMIC's good performance in the contact intervention of the I-AUV, with the position tracking errors within ±1.6×10−2 m and a RMSE of 0.97N in maintaining the desired contact force of 10N.
dc.language	English
dc.publisher	PERGAMON-ELSEVIER SCIENCE LTD
dc.relation	http://purl.org/au-research/grants/arc/LP150100935
dc.relation.ispartof	Ocean Engineering
dc.relation.isbasedon	10.1016/j.oceaneng.2019.106855
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0405 Oceanography, 0905 Civil Engineering, 0911 Maritime Engineering
dc.subject.classification	Civil Engineering
dc.title	Sliding Mode Impedance Control for contact intervention of an I-AUV: Simulation and experimental validation
dc.type	Journal Article
utslib.citation.volume	196
utslib.for	0405 Oceanography
utslib.for	0905 Civil Engineering
utslib.for	0911 Maritime Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/DVC (Research)
pubs.organisational-group	/University of Technology Sydney/DVC (Research)/lnstitute for Public Policy and Governance
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.consider-herdc	false
dc.date.updated	2021-03-12T04:34:03Z
pubs.publication-status	Published
pubs.volume	196

Abstract:

© 2019 Elsevier Ltd Position/force control of an Intervention Autonomous Underwater Vehicle (I-AUV) is essential to many underwater intervention tasks (e.g., marine equipment maintenance, underwater welding and so on), and is challenging due to unknown fluid disturbances and model uncertainties. This paper applies the Sliding Mode Impedance Control (SMIC) to the full contact intervention of an I-AUV, from non-contact phase to contact phase. Both computational simulations and practical experiments are conducted to investigate the performance of SMIC. In simulations, considering model uncertainties and detailed fluid disturbances, accurate position and force tracking can be achieved, with the position tracking errors within ±3 × 10−3m and a Root Mean Square Error (RMSE) of 4 × 10−2N in tracking the desired contact force of 10N. For the purpose of experimental validation, the SMIC is implemented on an I-AUV developed in the University of Technology Sydney (UTS). The experimental results demonstrate the SMIC's good performance in the contact intervention of the I-AUV, with the position tracking errors within ±1.6×10−2 m and a RMSE of 0.97N in maintaining the desired contact force of 10N.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/147066