Imperial College London
Alternate

DrThulasiMylvaganam

Faculty of Engineering, Department of Aeronautics

Senior Lecturer in Control Engineering
 
 
 
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Contact

 

+44 (0)20 7594 5129t.mylvaganam

 
 
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Location

 

221City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Wrzos-Kaminska:2020:10.23919/ECC51009.2020.9143717,
author = {Wrzos-Kaminska, M and Mylvaganam, T and Pettersen, KY and Gravdahl, JT},
doi = {10.23919/ECC51009.2020.9143717},
pages = {881--888},
publisher = {IEEE},
title = {Collision avoidance using mixed H2/H∞ control for an articulated intervention-AUV},
url = {http://dx.doi.org/10.23919/ECC51009.2020.9143717},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - In  this  paper  we  consider  the  problem  of  mixedH2/H∞control to combine optimal and robust control for a dou-ble integrator system with nonlinear performance variables, andwe apply this to control an articulated intervention autonomousunderwater  vehicle  (AIAUV).  The  AIAUV  has  an  articulatedbody  like  a  snake  robot,  is  equipped  with  thrusters,  and  canbe used as a free-floating underwater manipulator. The objectiveis to control the joints of the AIAUV to desired setpoints withoutcausing  collisions  between  links  or  with  obstacles  in  the  envi-ronment. The mixedH2/H∞problem is viewed as a differentialgame, and a set of matrix equations is solved in order to constructan  approximate  solution  to  the  problem  for  a  system  describedby double integrator dynamics and with nonlinear performancevariables.  A  feedback  linearising  controller  is  derived  to  obtainthe double integrator dynamics for the joints of the AIAUV, andthe  solution  found  for  the  mixedH2/H∞control  problem  isapplied  to  the  resulting  system.  Simulations  demonstrate  thatcollisions   between   links   of   the   manipulator   are   successfullyavoided  also  in  the  presence  of  parameter  uncertainties  whileregulating  the  joints  to  the  desired  setpoints,  and  the  methodcan  easily  be  extended  to  include  collision  avoidance  with  staticand  dynamic  obstacles  in  the  environment.
AU  - Wrzos-Kaminska,M
AU  - Mylvaganam,T
AU  - Pettersen,KY
AU  - Gravdahl,JT
DO  - 10.23919/ECC51009.2020.9143717
EP  - 888
PB  - IEEE
PY  - 2020///
SP  - 881
TI  - Collision avoidance using mixed H2/H∞ control for an articulated intervention-AUV
UR  - http://dx.doi.org/10.23919/ECC51009.2020.9143717
UR  - https://ieeexplore.ieee.org/abstract/document/9143717
UR  - http://hdl.handle.net/10044/1/77586
ER  -
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