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Prediction-Based Seabed Terrain Following Control for an Underwater Vehicle-Manipulator System.
- Source :
- IEEE Transactions on Systems, Man & Cybernetics. Systems; Aug2021, Vol. 51 Issue 1, p4751-4760, 10p
- Publication Year :
- 2021
-
Abstract
- This article addresses a problem of seabed terrain following control (STFC) for an underwater vehicle-manipulator system (UVMS). The motivation is to perform a visual search of marine products closely to seabed in unknown environment. In terms of this issue, we propose a novel and robust STFC framework for our UVMS to maintain an appropriate height to seabed. A nonlinear model predictive control (NMPC) method is formulated to solve the STFC problem. To relieve online computational burden and system noisy influence, Ohtsuka’s continuation/generalized minimal residual (C/GMRES) algorithm incorporated with a tracking differentiator (TD) is investigated. In order to improve the following accuracy, the system state prediction part of the NMPC and a long short-term memory (LSTM) network are elaborated to predict future seabed terrain using a depth gauge and an altimeter, respectively. Finally, the three different physical scenarios for STFC problem are established using ROS to demonstrate the robustness and efficiency of the proposed algorithm. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 21682216
- Volume :
- 51
- Issue :
- 1
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Systems, Man & Cybernetics. Systems
- Publication Type :
- Academic Journal
- Accession number :
- 153068083
- Full Text :
- https://doi.org/10.1109/TSMC.2019.2944651