Control of an Underactuated Underwater Robot using Geometric Algebra

• Autores: Juan Sebastián Cely Gutiérrez
• Directores de la Tesis: Roque Saltarén (dir. tes.)
• Lectura: En la Universidad Politécnica de Madrid ( España ) en 2022
• Idioma: inglés
• Tribunal Calificador de la Tesis: Federico Thomas Arroyo (presid.), José María Sabater Navarro (secret.), Lisandro Puglisi (voc.), Ramón Ignacio Barber Castaño (voc.), Roemi Emilia Fernández Saavedra (voc.)
• Programa de doctorado: Programa de Doctorado en Automática y Robótica por la Universidad Politécnica de Madrid
• Calificación: Sobresaliente Cum Laude
• Materias:
  • Ciencias tecnológicas
    • Tecnología de los ordenadores
      • Dispositivos de control
    • Tecnología de la instrumentación
      • Ingeniería de control
      • Técnicas de manipulación a distancia
• Enlaces
  • Tesis en acceso abierto en: Archivo Digital UPM
• Resumen

  • Due to the world problems for finding places where harvesting, Scientific community has proposed to harvest some products in underwater environments. These farms could be more productive and safe if the operator will be not person and but robots. The experience in our research group in developing this kind of robots, it has allowed doing a proposal of an underwater robots colony for harvesting in underwater. For this situation, we have proposed the design, building and control of a drone shape robot for manipulation task in underwater. It has decided to plan the using of Lie algebra for linearising the dynamical model and the using of geometric algebra to develop a control schema that it has present the physical parameters of the robot into him. For designing it was required a dynamical model of a rigid body in underwater conditions, however this model requires the hydrodynamic parameters identification that they were obtained using experiments with scaled models. Because the model is non linear, and using Lie Algebra the model is linearised, also it is proposed linearised models based on Vessel Parallel Coordinates and a uncoupled model, where all models are compared between them. It was done a description about used hardware for prototyping in terms on mechanical design, electronic design, actuators and sensors. It was carried on a description about software developing such as for the robot and as for graphical interface. For the control design, it was selected a acceleration feedback controller to be as referenced controller, also were selected a calculated torque controller and a sliding modes controller, they use the linearised model by Lie Algebra, and finally a geometric controller adapted to a underwater modelling. They were carried on comparatives between controllers results with two immersions: one for disturbance response and another one to follow references. The results of the test evidence that the controllers guarantee robot depth and angle, being the controller for angle more sensible, but they guarantee the stability of the system. Also it was carried on tests for validating that the drone can catch things in underwater, being the selected objects as a sphere, a bottle and a plant. With these tests, it was possible to validate the system and the using of geometric algebra for linearising the system and for the proposed geometric control strategy.