Fundamental Design and Automation Technologies in Offshore Robotics (Emerging Methodologies and Applications in Modelling, Identification and Control)

355 Pages·2020·16.469 MB·English

by  Hamid Reza Karimi (editor)

FUNDAMENTAL DESIGN
AND AUTOMATION
TECHNOLOGIES IN
OFFSHORE ROBOTICS

FUNDAMENTAL DESIGN
AND AUTOMATION
TECHNOLOGIES IN
OFFSHORE ROBOTICS
Editedby
HAMIDREZAKARIMI
SeriesEditor
QUANMINZHU
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Contents
Listofcontributors vii
Preface ix
1. Introduction to fundamental design and automation
technologiesinoffshorerobotics 1
HamidRezaKarimi
2. Continuoussystemintegrationandvalidationforunderwater
perceptioninoffshoreinspectionandinterventiontasks 9
ChristianA.Mueller,ArturoGomezChavez,TobiasDoernbach,
DanielKöhntopp,AndreasBirk
3. Azimuththrustersinglelevertyperemotecontrolsystem 77
GuichenZhang
4. Autonomousenvironmentandtargetperceptionofunderwater
offshorevehicles 91
HongdeQin
5. Autonomouscontrolofunderwateroffshorevehicles 115
HongdeQin,YanchaoSun
6. Developmentofhybridcontrolarchitectureforasmall
autonomousunderwatervehicle 161
ZhenzhongChu
7. Adaptiveslidingmodecontrolbasedonlocalrecurrentneural
networksforanunderwaterrobot 177
ZhenzhongChu
8. Thrusterfaultreconstructionforautonomousunderwatervehicle
basedonterminalslidingmodeobserver 195
ZhenzhongChu
9. Robustsampled-datacontrolfordynamicpositioningships
basedonT–Sfuzzymodel 219
YueyingWang,MinjieZheng
v
vi Contents
10.Finite-timecontrolofautonomoussurfacevehicles 237
NingWang
11.Way-pointtrackingcontrolofunderactuatedUSVbasedonGPC
pathplanning 271
YueyingWang,TaoJiang
12.ESO-basedguidancelawfordistributedpathmaneuvering
ofmultipleautonomoussurfacevehicleswithatime-varying
formation 287
ZhouhuaPeng,NanGu,LuLiu,DanWang,TieshanLi
13.Finite-timeextendedstateobserverbasedfaulttolerantoutput
feedbackcontrolforUAVattitudestabilizationunderactuator
failuresanddisturbances 309
BoLi,WenLiu,KeQin,BingXiao,YongshengYang
Index 337
List of contributors
AndreasBirk
JacobsUniversityBremen,RoboticsGroup,ComputerScience&ElectricalEngineering,
Bremen,Germany
Zhenzhong Chu
Shanghai,China
Tobias Doernbach
JacobsUniversityBremen,RoboticsGroup,ComputerScience&ElectricalEngineering,
Bremen,Germany
Arturo GomezChavez
JacobsUniversityBremen,RoboticsGroup,ComputerScience&ElectricalEngineering,
Bremen,Germany
NanGu
TaoJiang
SchoolofMechatronicEngineeringandAutomation,ShanghaiUniversity,Shanghai,
China
HamidRezaKarimi
DepartmentofMechanicalEngineering,PolitecnicodiMilano,Milan,Italy
DanielKöhntopp
JacobsUniversityBremen,RoboticsGroup,ComputerScience&ElectricalEngineering,
Bremen,Germany
BoLi
InstituteofLogisticsScienceandEngineering,ShanghaiMaritimeUniversity,Shanghai,
China
TieshanLi
LuLiu
WenLiu
InstituteofLogisticsScienceandEngineering,ShanghaiMaritimeUniversity,Shanghai,
China
Christian A.Mueller
JacobsUniversityBremen,RoboticsGroup,ComputerScience&ElectricalEngineering,
Bremen,Germany
Zhouhua Peng
Hongde Qin
CollegeofShipbuildingEngineering,HarbinEngineeringUniversity,Harbin,China
vii
viii Listofcontributors
KeQin
InstituteofLogisticsScienceandEngineering,ShanghaiMaritimeUniversity,Shanghai,
China
YanchaoSun
CollegeofShipbuildingEngineering,HarbinEngineeringUniversity,Harbin,China
DanWang
NingWang
SchoolofMarineElectricalEngineering,DalianMaritimeUniversity,Dalian,China
YueyingWang
SchoolofElectricalInformationandElectricalEngineering,ShanghaiUniversity,
Shanghai,China
SchoolofMechatronicEngineeringandAutomation,ShanghaiUniversity,Shanghai,
China
BingXiao
SchoolofAutomation,NorthwesternPolytechnicalUniversity,Xi’an,China
Yongsheng Yang
InstituteofLogisticsScienceandEngineering,ShanghaiMaritimeUniversity,Shanghai,
China
GuichenZhang
MerchantMarineCollege,ShanghaiMaritimeUniversity,Shanghai,PRChina
MinjieZheng
NavigationCollege,JimeiUniversity,Xiamen,Fujian,China
Preface
With the rapid growth of offshore technology in various application fields
such as oil and gas industry, wind energy, robotics, and logistics, many
researchers in academia and industry have focused on technology-based
challenges raised in offshore environment. To this aim, this book unifies
existing and emerging concepts concerning advanced design and automa-
tiontechnologiesofoffshoreroboticstowardspracticalapplications,suchas
guidance principles for motion control, autonomous underwater vehicles,
autonomous surface vehicles, as well as measurement and fault detection.
The book may be useful for graduate students and researchers in control
systems, mechatronics, mathematics, mechanics and alike.
The book consists of one introductory chapter and 12 technical chap-
ters, which are organized as separate contributions and listed according to
the order of the list of contents as follows:
In Chapter 1, an introduction and some main characteristics are gen-
erally addressed for the design and automation technologies in offshore
robotics. A continuous system integration scheme is proposed in Chap-
ter 2, which is used for underwater perception applications. In Chapter 3,
azimuthing thruster single-lever-type remote control system is designed to
freely control the sailing direction and speed of a ship. Then, solutions for
underwater perception of environment and object are proposed in Chap-
ter 4, in particular, a joint framework for underwater imagery mosaicking
is proposed for autonomous underwater vehicle (AUV) perception of un-
derwater in a wider visual range. Afterwards, several autonomous control
methods are proposed in Chapter 5 for trajectory tracking control of AUV
under the influence of modeling uncertainties, ocean current, and thruster
faults. In Chapter 6, a hybrid control architecture with the characteristics
of hierarchical architecture and subsumption architecture is proposed for a
small autonomous underwater vehicle. In addition, the trajectory tracking
controlproblemofanunderwaterrobotispresentedinChapter7.InChap-
ter 8, thruster fault reconstruction is investigated for AUVs with thruster
fault.Then,Chapter9investigatestherobuststabilizationproblemfornon-
linear sampled-data dynamic positioning of ships based on Takagi–Sugeno
(T–S) fuzzy model. The problem of finite-time control of an autonomous
surfacevehicle(ASV)withcomplexunknownsisaddressedinChapter10.
Then, Chapter 11 deals with the problem of how to realize way-point
ix