Session: MSNDC-08/MR-05-01: Motion Planning, Dynamics, and Control of Robots

Paper Number: 116553

116553 - Formation-Keeping and Cooperative Control of Auvs Based on the Udwadia-Kalaba Equation 

Autonomous Underwater Vehicles (AUVs) represent an efficient alternative for performing complex tasks such as ocean monitoring, inspection of underwater structures, pipelines and vessels, and transportation of objects. The use of multiple AUVs acting cooperatively can increase the performance in these tasks, at the cost of making the overall operation more challenging. In this paper, a novel reference filter for the Formation Keeping (FK) of multiple AUVs is proposed. Basically, the FK objectives are treated as servo-constraints. Thus, the reference values for the motion control can be directly computed using Udwadia-Kalaba equation, which was originally proposed for finding explicit expressions for constraint forces in multibody systems. After obtaining these reference inputs, in order to test the proposed strategy, the formation control algorithm is designed individually for each agent (AUV) based on its own mathematical model. The proposed coordination framework is tested in numerical simulations considering external disturbances due to ocean currents and realistic models for the sensors. A low-level Model Predictive Control (MPC) is assumed to be embedded to each agent. The existing limitations in their communication are also considered. Results highlight the good performance of the proposed scheme in terms of trajectory tracking and disturbance rejection, with low constraint violations.

Presenting Author: Renato Maia Matarazzo Orsino University of São Paulo - Escola Politécnica

Presenting Author Biography: Assistant Professor of the Mechanical Engineering Department (PME) of Escola Politécnica, University of São Paulo (EPUSP) since May 2022 and of the Postgraduate Program in Mechanical Engineering of the same institution since February 2019. Researcher of the Offshore Mechanics Laboratory since September 2016.

Education:
Ph.D. in Mechanical Engineering - Escola Politécnica, University of São Paulo (2012-2016)
B.Sc. in Mechanical Engineering - Escola Politécnica, University of São Paulo (2007-2011)

Research interests:
Multibody System Dynamics, Autonomous and Remotely Operated Vehichles, Machine Learning, Analytical Mechanics, Kinematics, Computational Mechanics, Non-linear Dynamics, Structural Dynamics, Fluid-Structure Interaction, Mechanism Analysis and Design.

Formerly:
– Assistant Professor of Maua Institute of Technology (Feb/20 - May/22)
– Invited Research Fellow (Mar/20 - Feb/22) of PME/EPUSP, working at the Offshore Mechanics Laboratory (LMO)
– Temporary Assistant Professor (Mar/18 - Feb/20) of PME/EPUSP
– Postdoctoral fellow (Sep/16 - Aug/18) of PME/EPUSP, working at LMO.

Authors:

Éverton Lins De Oliveira University of São Paulo - Escola Politécnica
Renato Maia Matarazzo Orsino University of São Paulo - Escola Politécnica
Décio Crisol Donha University of São Paulo - Escola Politécnica