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Hybrid actuation with complementary allocation for depth control of a Lagrangian sea‐floor imaging platform.

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Title: Hybrid actuation with complementary allocation for depth control of a Lagrangian sea‐floor imaging platform.
Authors: Snyder, William1, Roman, Chris2, Licht, Stephen1 slicht@uri.edu
Source: Journal of Field Robotics. May2018, Vol. 35 Issue 3, p330-344. 15p.
Subjects: Robotics in oceanography, Submarine topography, Lagrange spectrum, Actuators, Imaging systems
Abstract: Abstract: A hybrid depth control approach, which utilizes both active buoyancy control and a bi‐directional vertical thruster, is presented for the Shallow Water Lagrangian Imaging Float. The approach is shown to reduce propulsion power and increase tracking accuracy compared to a single actuator system. Results are presented from field trials at Cordell Bank Marine Sanctuary and Scott Reef Nature Reserve at depths up to 60 m. Using heuristically tuned controllers, the hybrid actuation approach reduces average propulsion power by 65% with respect to a thruster‐only system, and by 73% with respect to a piston‐only system. A further 58% reduction in power consumption, and a 26% reduction in mean tracking error, is realized by combining state feedback control with a pair of complementary filters. The complementary filters are used to allocate vertical force command between the two actuation modes. Simulations are used to demonstrate that the power savings compared to a thruster‐only system result from elimination of steady state trim errors that are otherwise inevitable in field deployments. The control architecture described allows the user to directly tune (a) the time constant of the desired first‐order system dynamics and (b) the frequency cutoff between control using the “slow” active buoyancy system and control using the “fast” bi‐directional thruster. The results indicate that hybrid actuation and complementary filtering for control allocation are enabling technologies for energy‐constrained deep water platforms. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Abstract: A hybrid depth control approach, which utilizes both active buoyancy control and a bi‐directional vertical thruster, is presented for the Shallow Water Lagrangian Imaging Float. The approach is shown to reduce propulsion power and increase tracking accuracy compared to a single actuator system. Results are presented from field trials at Cordell Bank Marine Sanctuary and Scott Reef Nature Reserve at depths up to 60 m. Using heuristically tuned controllers, the hybrid actuation approach reduces average propulsion power by 65% with respect to a thruster‐only system, and by 73% with respect to a piston‐only system. A further 58% reduction in power consumption, and a 26% reduction in mean tracking error, is realized by combining state feedback control with a pair of complementary filters. The complementary filters are used to allocate vertical force command between the two actuation modes. Simulations are used to demonstrate that the power savings compared to a thruster‐only system result from elimination of steady state trim errors that are otherwise inevitable in field deployments. The control architecture described allows the user to directly tune (a) the time constant of the desired first‐order system dynamics and (b) the frequency cutoff between control using the “slow” active buoyancy system and control using the “fast” bi‐directional thruster. The results indicate that hybrid actuation and complementary filtering for control allocation are enabling technologies for energy‐constrained deep water platforms. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1002/rob.21716
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      – Code: eng
        Text: English
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        PageCount: 15
        StartPage: 330
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      – SubjectFull: Robotics in oceanography
        Type: general
      – SubjectFull: Submarine topography
        Type: general
      – SubjectFull: Lagrange spectrum
        Type: general
      – SubjectFull: Actuators
        Type: general
      – SubjectFull: Imaging systems
        Type: general
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      – TitleFull: Hybrid actuation with complementary allocation for depth control of a Lagrangian sea‐floor imaging platform.
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            NameFull: Snyder, William
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            NameFull: Roman, Chris
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            NameFull: Licht, Stephen
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            – D: 01
              M: 05
              Text: May2018
              Type: published
              Y: 2018
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            – TitleFull: Journal of Field Robotics
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