Browse > Article
http://dx.doi.org/10.7736/KSPE.2013.30.10.1031

Gain Optimization of a Back-Stepping Controller for 6-Dof Underwater Robotic Platform  

Kim, Jihoon (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Kim, Jong-Won (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Jin, Sangrok (Graduate School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Seo, TaeWon (School of Mechanical Engineering, Yeungnam Univ.)
Kim, Jongwon (School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.10, 2013 , pp. 1031-1039 More about this Journal
Abstract
This paper presents gain optimization of a 6-DOF underwater robotic platform with 4 rotatable thrusters. To stabilize the 6-DOF motion of the underwater robotic platform, a back-stepping controller is designed with 6 proportional gains and 6 derivative gains. The 12 gains of the backstepping controller are optimized to decrease settling time in step response in 6-DOF motion independently. Stability criterion and overshoots are used as a constraint of the optimization problem. Trust-region algorithm and hybrid Taguchi-Random order Coordinate search algorithm are used to determine the optimal parameters, and the results by two methods are analyzed. Additionally, the resulting controller shows improved performance under disturbances.
Keywords
Gain optimization; Underwater robotic platform; Back-stepping control; Trust-region algorithm; Taguchi method;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 Jin, S., Lee, S., Kim, J., Kim, J., and Seo, T., "Design of Hovering Underwater Robotic Platform to Capture Harmful Marine Organisms," Int. Conf. on Control, Automation and Systems, pp. 1747-1751, 2012.
2 Soltani, S. and Piltan, F., "Design Artificial Nonlinear Controller Based on Computed Torque Like Controller with Tunable Gain," World Applied Sciences Journal, Vol. 14, No. 9, pp. 1306-1312, 2011.
3 Hunnekens, B. G. B., Heerrtjes, M. F., van de Wouw, N., and Nijmeijer, H., "Model-Based Piecewise Affine Variable-Gain Controller Synthesis," 2013 American Control Conference(ACC), 2013.
4 Seo, T., "Control Gain Tuning of the 3-DOF Micro Parallel Mechanism Platform via Design of Experiment Methodology," J. Korean Soc. Precis. Eng., Vol. 29, No. 11, pp. 1207-1213, 2012.   과학기술학회마을   DOI   ScienceOn
5 Lee, K. and Kim, J., "Control Gain Tuning of a Simultaneous Multi-Axis PID Control System by Taguchi Method," J. Korean Soc. Precis. Eng., Vol. 16, No. 6, pp. 25-35, 1999.   과학기술학회마을
6 Jin, S., Lee, S., Kim, J., and Seo, T., "Starfish Capture Robotic Platform: Conceptual Design and Analysis," J. Korean Soc. Precis. Eng., Vol. 29, No. 9, pp. 978-985, 2012.   과학기술학회마을   DOI   ScienceOn
7 MathWorks, "MATLAB," http://www.mathworks.co.kr.html (Accessed 17 March 2013)
8 Fossen, T. I., "Guidance and Control of Ocean Vehicles," John Wiley & Sons, pp. 5-56, 1994.
9 Newman, J. N., "Marine Hydrodynamics," MIT Press, pp. 328-384, 1997.
10 Georgiades, C., "Simulation and Control of an Underwater Hexapod Robot," M.Sc. Thesis, Department of Mechanical Engineering, McGill Univ., 2005.
11 Khalil, H. K., "Nonlinear Systems," Prentice-Hall, pp. 589-603, 3rd ed., 2001.
12 Peace, G. S., "Taguchi Methods," Addison-Wesley, pp. 273-291, 1993.
13 MathWorks, "fmincon," http://www.mathworks.co.kr/help/optim/ug/fmincon.html (Accessed 17 March 2013)
14 Lurie, B. and Enright, P., "Classical Feedback Control with Matlab," CRC Press, pp. 31-51, 2000.
15 Franklin, G. F., Powell, J. D., and Emami-Naeini, A., "Feedback Control of Dynamic Systems," Prentice Hall, 6th ed., pp. 243-336, 2009.
16 Ziegler, J. G. and Nichols, N. B., "Optimum Setting for Automatic Controllers," Transaction of ASME, Vol. 64, pp. 759-768, 1942.
17 Skogestad, S. and Postlethwaite, I., "Multivariable Feedback Control: Analysis and Design," Wiley-Interscience, 2nd ed., pp. 15-66, 2005.
18 Thangaraj, R., Chelliah, T. R., Pant, M., Abraham, A., and Grosan, C., "Optimal Gain Tuning of PI speed Controller in Induction Motor Drives Using Particle Swarm Optimization," Logic Journal of the IGPL, Vol. 19, No. 2, pp. 343-356, 2010.
19 Liu, C. and Hsu Y., "Design of a Self-Tuning PI Controller for a STATCOM using Particle Swarm Optimization," IEEE Transactions of Industrial Electronics, Vol. 57, No. 2, pp. 702-715, 2010.   DOI   ScienceOn