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Kinematic analysis and advanced control of a vectored thruster based on 3RRUR parallel manipulator for micro-size AUVs

Published online by Cambridge University Press:  18 September 2024

Tao Liu Open the ORCID record for Tao Liu [Opens in a new window] ,
Jintao Zhao  and
Junhao Huang
Tao Liu*
Affiliation:
School of Ocean Engineering and Technology, Sun Yat-sen University & Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai, China
Jintao Zhao
Affiliation:
School of Ocean Engineering and Technology, Sun Yat-sen University & Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai, China
Junhao Huang
Affiliation:
School of Ocean Engineering and Technology, Sun Yat-sen University & Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai, China
*
Corresponding author: Tao Liu; Email: liutao55@mail.sysu.edu.cn
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Abstract

Autonomous underwater vehicles (AUVs) have played a pivotal role in advancing ocean exploration and exploitation. However, traditional AUVs face limitations when executing missions at minimal or near-zero forward velocities due to the ineffectiveness of their control surfaces, considerably constraining their potential applications. To address this challenge, this paper introduces an innovative vectored thruster system based on a 3RRUR parallel manipulator tailored for micro-sized AUVs. The incorporation of a vectored thruster enhances the performance of micro-sized AUVs when operating at minimal and low forward speeds. A comprehensive exploration of the kinematics of the thrust-vectoring mechanism has been undertaken through theoretical analysis and experimental validation. The findings from theoretical analysis and experimental confirmation unequivocally affirm the feasibility of the devised thrust-vectoring mechanism. The precise control of the vector device is studied using Physics-informed Neural Network and Model Predictive Control (PINN-MPC). Through the adoption of this pioneering thrust-vectoring mechanism rooted in the 3RRUR parallel manipulator, AUVs can efficiently and effectively generate the requisite motion for thrust-vectoring propulsion, overcoming the limitations of traditional AUVs and expanding their potential applications across various domains.

Keywords

AUVsvectored thruster3RRUR parallel manipulatorMPC

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 9 , September 2024 , pp. 3065 - 3086
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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