Have a personal or library account? Click to login
Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator Cover

Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator

Open Access
|Jul 2019

References

  1. 1. Islam S., Liu J.: Robust Sliding Mode Control for Robot Manipulators. IEEE Transactions on Industrial Electronics, vol. 58(6), pp. 2444-2453, 2011.10.1109/TIE.2010.2062472
  2. 2. F. Piltan and B. Sulaiman.: Review of Sliding Mode Control of Robotic Manipulator. World Sciences Journal, vol. 18(12), pp. 1855-1869, 2012.
  3. 3. Esfahani H. N., Azimirad V., Eslami A., Asadi S.: An optimal sliding mode control based on immune-wavelet algorithm for underwater robotic manipulator. Proceedings of the 21st Iranian Conference on Electrical Engineering (ICEE). Mashhad, Iran, 2013. DOI: 10.1109/IranianCEE.2013.6599587.10.1109/IranianCEE.2013.6599587
  4. 4. Esfahani H. N., Azimirad V., Danesh M.: A time delay controller included terminal sliding mode and fuzzy gain tuning for underwater vehicle-manipulator systems. Ocean Engineering, vol. 107, pp. 97-107, 2015.10.1016/j.oceaneng.2015.07.043
  5. 5. Esfahani H. N., Azimirad V., Zakeri M.: Sliding Mode-PID Fuzzy controller with a new reaching mode for underwater robotic manipulators. Latin American Applied Research, vol. 44(3), pp. 253–258, 2014.10.52292/j.laar.2014.449
  6. 6. Vivas A., Mosquera V.: Predictive functional control of a PUMA robot. Proceedings of the Conference on Automatic Control and System Engineering (ACSE 05), CICC. Cairo, Egypt, 2005.
  7. 7. Incremona G. P., Ferrara A., Magni L.: Hierarchical Model Predictive/Sliding Mode Control of Nonlinear Constrained Uncertain Systems. Proceedings of the 5th IFAC Conference on Nonlinear Model Predictive Control (NMPC). Seville, Spain, 2015. DOI: 10.1016/j.ifacol.2015.11.268.10.1016/j.ifacol.2015.11.268
  8. 8. Ghazaei Ardakani M., Olofsson B., Robertsson A., Johansson R.: Real-Time Trajectory Generation using Model Predictive Control. Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE). Gothenburg, Sweden. pp. 942 – 948, 2015. DOI: 10.1109/CoASE.2015.7294220.10.1109/CoASE.2015.7294220
  9. 9. Wang Y., Chen W., Tomizuka M., Alsuwaidan B. N.: Model predictive sliding mode control: for constraint satisfaction and robustness. ASME 2013 Dynamic Systems and Control Conference, Palo Alto, California, USA. vol. 3, ISBN 978-0-7918-5614-7, 2013.10.1115/DSCC2013-4067
  10. 10. Fossen. T. I.: Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicle. Marine Cybernetics AS, Norway. pp. 570-579, ISBN 82-92356-00-2, 2002.
  11. 11. Krid. M, Benamar. F, and Lenain. R.: A new explicit dynamic path tracking controller using Generalized Predictive Control. International Journal of Control, Automation and Systems, Springer, vol. 15, Issue 1, pp. 303-314, 2017.10.1007/s12555-015-0160-6
  12. 12. Spong M.W., Hutchinson S., Vidyasagar M.: Robot Dynamics and Control. 2nd ed. John Wiley & Sons, Inc.; Hoboken, NJ, USA: 2004.
  13. 13. Jasour A. M., Farrokhi M.: Path Tracking and Obstacle Avoidance for Redundant Robotic Arms Using Fuzzy NMPC. Proceedings of the American Control Conference, pp. 1353-1358. St. Louis, MO, USA, 2009. DOI: 10.1109/ACC.2009.5160408.10.1109/ACC.2009.5160408
  14. 14. Rubus. T, Seweryn. K, and Sasiadek. J. Z.: Application of predictive control for manipulator mounted on a satellite. Archives of Control Sciences, vol. 28(LXIV), pp. 105–118, 2018.
  15. 15. Lisowski. J.: Analysis of Methods of Determining the Safe Ship Trajectory. TRANSNAV-INTERNATIONAL JOURNAL ON MARINE NAVIGATION AND SAFETY OF SEA TRANSPORTATION, Vol. 10(2), pp. 223-228, JUN 2016.10.12716/1001.10.02.05
  16. 16. Lisowski. J.: Optimization-supported decision-making in the marine mechatronics systems. mechanics and material II. Book series: solid state phenomena, Vol. 210, pp. 215-222, 2014.10.4028/www.scientific.net/SSP.210.215
  17. 17. Tomera. M.: Ant colony optimization algorithm applied to ship steering control. KNOWLEDGE-BASED AND INTELLIGENT INFORMATION & ENGINEERING SYSTEMS 18TH ANNUAL CONFERENCE, KES-2014 Book Series: Procedia Computer Science, Vol. 35, pp. 83-92, 2014.10.1016/j.procs.2014.08.087
  18. 18. Sun, Y. C., Cheah, C. C.: Adaptive set point control for autonomous underwater vehicles. In: Proceedings of IEEE Robotics Decision and Control Conference, Hawaii USA, 2, pp. 1262–1267, 2003.10.1109/CDC.2003.1272782
DOI: https://doi.org/10.2478/pomr-2019-0030 | Journal eISSN: 2083-7429 | Journal ISSN: 1233-2585
Language: English
Page range: 104 - 114
Published on: Jul 12, 2019
Published by: Gdansk University of Technology
In partnership with: Paradigm Publishing Services
Publication frequency: 4 times per year

© 2019 Hossein Nejatbakhsh Esfahani, published by Gdansk University of Technology
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.