ROUV heading by a fractional-order PI controler
Апстракт
To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class,
the interactions among mechanical, electronic and information processing elements call for an
integrated approach at all design and development stages. Different methodologies must be
combined in a multi-formalism modelling approach supported by a suitable simulation and
prototyping environment. The proposed approach involves the development of a virtual ROUV
prototype in the ROS Gazebo environment, to assess performance in the successive developing
steps reliably, and a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital
camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass), to
implement and run the control algorithms in real-time. A mathematical model of the system is
derived to design a fractional-order PI controller of the ROUV yaw angle in the horizontal
plane.
The considered system is “MUVIC-Light”, which was developed by the first auth...or to
perform inspections at a depth of up to 200 meters (Fig. 1). The characteristic features of
such system are a significant elongation (the length of the hull is several times greater than its
diameter) and the use of rudders or ailerons to control movement. The Gazebo simulator allows
to describe the objects and environment, to define the robot dynamics, and the TCP/IP
protocol to transmit video and sensor data to/from the controller board. To tune the controller, a nonlinear 6-DOF mathematical model of the ROUV dynamics is derived based on the Euler-Lagrangian formulation. Then, by linearization, a transfer function is obtained, relating the yaw angle and the voltage applied to the motors driving the ROUV.
The controller is tuned as in [1]. ROS and Gazebo allow simulation of control system, computer
vision, 3D positioning, robot path planning in a realistic environment that can be considered as
a digital twin. Namely, the developed codes can be directly used in a real scenario.
Кључне речи:
Mathematical model of ROUV motion / Stabilization / Underwater robots / Fractional-order PI controller / ROS / GazeboИзвор:
Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022., 2022, 103-103Издавач:
- Univerzitet u Beogradu, Mašinski fakultet
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
- Serbia-Italian bilateral project ADFOCMEDER
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Svishchev, Nikolai AU - Lino, Paolo AU - Maione, Guido AU - Rybakov, Alexsey AU - Lazarević, Mihailo PY - 2022 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4080 AB - To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class, the interactions among mechanical, electronic and information processing elements call for an integrated approach at all design and development stages. Different methodologies must be combined in a multi-formalism modelling approach supported by a suitable simulation and prototyping environment. The proposed approach involves the development of a virtual ROUV prototype in the ROS Gazebo environment, to assess performance in the successive developing steps reliably, and a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass), to implement and run the control algorithms in real-time. A mathematical model of the system is derived to design a fractional-order PI controller of the ROUV yaw angle in the horizontal plane. The considered system is “MUVIC-Light”, which was developed by the first author to perform inspections at a depth of up to 200 meters (Fig. 1). The characteristic features of such system are a significant elongation (the length of the hull is several times greater than its diameter) and the use of rudders or ailerons to control movement. The Gazebo simulator allows to describe the objects and environment, to define the robot dynamics, and the TCP/IP protocol to transmit video and sensor data to/from the controller board. To tune the controller, a nonlinear 6-DOF mathematical model of the ROUV dynamics is derived based on the Euler-Lagrangian formulation. Then, by linearization, a transfer function is obtained, relating the yaw angle and the voltage applied to the motors driving the ROUV. The controller is tuned as in [1]. ROS and Gazebo allow simulation of control system, computer vision, 3D positioning, robot path planning in a realistic environment that can be considered as a digital twin. Namely, the developed codes can be directly used in a real scenario. PB - Univerzitet u Beogradu, Mašinski fakultet C3 - Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. T1 - ROUV heading by a fractional-order PI controler EP - 103 SP - 103 UR - https://hdl.handle.net/21.15107/rcub_machinery_4080 ER -
@conference{ author = "Svishchev, Nikolai and Lino, Paolo and Maione, Guido and Rybakov, Alexsey and Lazarević, Mihailo", year = "2022", abstract = "To control a remotely operated underwater vehicle (ROUV) of the observation ROUVs class, the interactions among mechanical, electronic and information processing elements call for an integrated approach at all design and development stages. Different methodologies must be combined in a multi-formalism modelling approach supported by a suitable simulation and prototyping environment. The proposed approach involves the development of a virtual ROUV prototype in the ROS Gazebo environment, to assess performance in the successive developing steps reliably, and a ROUV controller board (stm32F407, Quad-core Cortex-A7) with a digital camera and an inertial measurement unit (3D accelerometer, 3D gyroscope, compass), to implement and run the control algorithms in real-time. A mathematical model of the system is derived to design a fractional-order PI controller of the ROUV yaw angle in the horizontal plane. The considered system is “MUVIC-Light”, which was developed by the first author to perform inspections at a depth of up to 200 meters (Fig. 1). The characteristic features of such system are a significant elongation (the length of the hull is several times greater than its diameter) and the use of rudders or ailerons to control movement. The Gazebo simulator allows to describe the objects and environment, to define the robot dynamics, and the TCP/IP protocol to transmit video and sensor data to/from the controller board. To tune the controller, a nonlinear 6-DOF mathematical model of the ROUV dynamics is derived based on the Euler-Lagrangian formulation. Then, by linearization, a transfer function is obtained, relating the yaw angle and the voltage applied to the motors driving the ROUV. The controller is tuned as in [1]. ROS and Gazebo allow simulation of control system, computer vision, 3D positioning, robot path planning in a realistic environment that can be considered as a digital twin. Namely, the developed codes can be directly used in a real scenario.", publisher = "Univerzitet u Beogradu, Mašinski fakultet", journal = "Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.", title = "ROUV heading by a fractional-order PI controler", pages = "103-103", url = "https://hdl.handle.net/21.15107/rcub_machinery_4080" }
Svishchev, N., Lino, P., Maione, G., Rybakov, A.,& Lazarević, M.. (2022). ROUV heading by a fractional-order PI controler. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. Univerzitet u Beogradu, Mašinski fakultet., 103-103. https://hdl.handle.net/21.15107/rcub_machinery_4080
Svishchev N, Lino P, Maione G, Rybakov A, Lazarević M. ROUV heading by a fractional-order PI controler. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.. 2022;:103-103. https://hdl.handle.net/21.15107/rcub_machinery_4080 .
Svishchev, Nikolai, Lino, Paolo, Maione, Guido, Rybakov, Alexsey, Lazarević, Mihailo, "ROUV heading by a fractional-order PI controler" in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. (2022):103-103, https://hdl.handle.net/21.15107/rcub_machinery_4080 .