Paper Info
Title
Collision Avoidance Using Mixed H-2/H-Infinity Control For An Articulated Intervention-Auv
Abstract
In this paper we consider the problem of mixed H-2/H-infinity control to combine optimal and robust control for a double integrator system with nonlinear performance variables, and we apply this to control an articulated intervention autonomous underwater vehicle (AIAUV). The AIAUV has an articulated body like a snake robot, is equipped with thrusters, and can be used as a free-floating underwater manipulator. The objective is to control the joints of the AIAUV to desired setpoints without causing collisions between links or with obstacles in the environment. The mixed H-2/H-infinity problem is viewed as a differential game, and a set of matrix equations is solved in order to construct an approximate solution to the problem for a system described by double integrator dynamics and with nonlinear performance variables. A feedback linearising controller is derived to obtain the double integrator dynamics for the joints of the AIAUV, and the solution found for the mixed H-2/H-infinity control problem is applied to the resulting system. Simulations demonstrate that collisions between links of the manipulator are successfully avoided also in the presence of parameter uncertainties while regulating the joints to the desired setpoints, and the method can easily be extended to include collision avoidance with static and dynamic obstacles in the environment.
Year
Venue
DocType
2020
2020 EUROPEAN CONTROL CONFERENCE (ECC 2020)
Conference
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Marianna Wrzos-Kaminska100.34
Thulasi Mylvaganam201.69
Kristin Ytterstad Pettersen300.34
Jan Tommy Gravdahl432743.60