A Predictive Control Approach for Cooperative Transportation by Multiple Underwater Vehicle Manipulator Systems

This article addresses the problem of cooperative object transportation for multiple underwater vehicle manipulator systems (UVMSs) in a constrained workspace involving static obstacles. We propose nonlinear model predictive control (NMPC) approach team UVMSs order to transport an while avoiding significant constraints and limitations, such as kinematic representation singularities, obstacles within workspace, joint limits, input saturation. More precisely, by exploiting coupled dynamics between robots using certain load sharing coefficients, we design controller each UVMS cooperatively workspace’s feasible region. Moreover, scheme adopts among according their specific payload capabilities. In addition, feedback relies on UVMS’s onboard measurements no explicit data are exchanged online robots, thus reducing required communication bandwidth. Finally, realistic simulation results conducted UwSim dynamic simulator running robot operating system (ROS) environment well real-time experiments employing two small demonstrated effectiveness proposed strategy.