Model predictive control for six degrees-of-freedom station-keeping of an underwater vehicle-manipulator system
Christian Ernst Siegfried Koch
Tid: Fr 2017-09-15 kl 14.00
Plats: Automatic Control Dept.
Abstract. Underwater robotics is a reliable and efficient mean for exploration and surveying in a submarine environment. However, intervention tasks, such as installation and maintenance, require expansive and hazardous deployment of professional divers. Lightweight unmanned underwater vehicles equipped with a multi-degree-of-freedom manipulator have been proposed as an alternative. The control of these vehicle-manipulator systems is challenging due to their non-linear high-dimensional coupled dynamics. The central problem explored in this thesis is station keeping of an underwater vehicle under the influence of a moving manipulator. The manipulator is represented by predictable disturbance forces and moments. The proposed control scheme is a model predictive control (MPC) algorithm with preview of the disturbances. In simulation, performance of the MPC scheme is evaluated for different degrees of knowledge about the disturbances. Results are compared to a classical feedback controller.
Examiner: Mikael Johansson
Ämnesområde: Automatic Control
Respondent: Christian Ernst Siegfried Koch
Opponent: Corvin Kück
Handledare: Martin Biel, KTH, and Matthew W. Dunnigan, Heriot-Watt University, Edinburgh