欠驱动
倒立摆
控制理论(社会学)
模型预测控制
非线性系统
控制器(灌溉)
计算机科学
反推
控制工程
工程类
机器人
控制(管理)
人工智能
物理
自适应控制
量子力学
农学
生物
作者
Sriharsha Bhat,Ivan Stenius
标识
DOI:10.1109/icra48891.2023.10160926
摘要
Agile and hydrobatic maneuvering capabilities can enhance AUV operations in increasingly challenging scenarios. In this paper, we explore the ability of an underactuated AUV to transition to and hold a pitch angle close to 90 degrees at a particular depth, like an inverted pendulum. Holding such an orientation can be valuable in observing a calving glacier, under-ice launch and recovery, underwater docking, inspecting vertical structures, and observing targets above the water surface. However, such control is challenging because of underactuation, rapid response times and varying stability in different configurations. To address this, a control policy is derived offline using nonlinear MPC in a high-fidelity simulation environment in Simulink. For real-time control, a hybrid controller using a behavior tree (BT) is developed based on the optimal MPC policy and applied on the AUV system. The BT controller considers Safety, Transit and Stabilize behaviors. The control algorithm is validated with simulations in Simulink and Stonefish-ROS as well as field experiments with the hydrobatic SAM AUV, showing repeatable performance in the inverted pendulum maneuver.
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