Study on Model Based Control for the Roll Motion of an Underwater Robot

Kim, Chi-Hyo; Park, Woo-Kun; Kim, Tae-Sung; Lee, Min-Ki

Journal of Navigation and Port Research 2009;33(5):323-330.
Published online June 30, 2009.

수중로봇의 롤 운동제어를 위한 모델 베이스 제어에 관한연구

김치효, 박근우, 김태성, 이민기

Study on Model Based Control for the Roll Motion of an Underwater Robot

Chi-Hyo Kim, Woo-Kun Park, Tae-Sung Kim, Min-Ki Lee

Abstract

We have been developing an underwater robot for harbour construction using a parallel mechanism. The robot is attached to the rope of a crane, which carries a large stone into the undersea The robot's yaw) and pitch are controlled by hydraulic cylinders but its roll is uncontrollable. We mount propellers in both side of the robot to generate the roll motion. This paper studies on the control for the roll motion of a underwater robot. A gyro-sensor is used to measure the angle in a roll motion. We develop the dynamic model to describe the robot's roll motion by a second order non-linear system and identify the model parameters by recursive least square and adaptive identifier. PD control, recursive model based control and adaptive model based control are applied with the dynamic model which computes the control input to compensate disturbances. This paper introduces the underwater robot system and presents the simulated and experimental results of the proposed controller.

Key Words: roll motion;model-based controller;underwater robot;parallel-typed manipultor; harbor construction