Finite-Time Controller for Coordinated Navigation of Unmanned Underwater Vehicles in a Collaborative Manipulation Task.

ABSTRACT: Unmanned underwater vehicles perform inspection and maintenance tasks in complex and changing environments. Some of these tasks require synchronous navigation of multiple vehicles, which is challenging. This paper proposes a synchronous navigation scheme for two BlueROV2 underwater vehicles for a coordinated multi-vehicle task. In the proposed scheme, the vehicles perform the collaborative task of grasping, transporting, and releasing an object. In this scheme, no vehicle-to-vehicle communication is required. A model-free second-order sliding mode controller with finite-time convergence is used to accomplish this task. The controller's convergence time is user-defined and does not depend on the physical or hydrodynamic parameters of the vehicle, unlike the other finite-time controllers fou

SUBMITTER: Gonzalez-Garcia J 

PROVIDER: S-EPMC9824147 | biostudies-literature | 2022 Dec

REPOSITORIES: biostudies-literature