Ekaterina Gavrilina | Bauman Moscow State Technical University (original) (raw)

Papers by Ekaterina Gavrilina

Research paper thumbnail of Approach to the Control System Design for a Highly Maneuverable Underwater Vehicle Operating Across the Entire Range of Orientation Angles

Podvodnye issledovaniia i robototehnika

Research paper thumbnail of Attitude Control System of a Highly Maneuverable Hybrid ROV for Ship-Hull Inspection

OCEANS 2021: San Diego – Porto, 2021

Usually, ROVs are operated at small pitch and roll angles. However, tasks appear that require the... more Usually, ROVs are operated at small pitch and roll angles. However, tasks appear that require their operation at a whole range of orientation angles. Such operating modes are necessary for the ROV “Iznos” with a hybrid propulsion system (includes both thrusters and wheels) developed in Bauman Moscow State Technical University for ship hull inspection.The control system is required to operate in whole range of orientation angles in two modes: tracking of reference yaw, pitch and roll angles (YPR – mode) set by operator and tracking desired rotations relative to the axis associated with the ROV. A traditional approach to a ROV attitude control implies the usage of Euler angles and has singularity and nonuniqueness problems at pitch ±90°. To avoid these problems attitude control using error quaternion feedback is used. The quality of the obtained control law is verified by field tests on the ROV “Iznos”. Performance of the system in YPR - mode was compared to the traditional approach based on Euler angles and traditional approach with decomposition algorithm. All approaches have the problem of perturbations between yaw, pitch, roll control channels.In turn, control system based on quaternions has a simple structure and acceptable quality for ROV for the ship-hull inspection.

Research paper thumbnail of A Decomposition Algorithm for Attitude Control of the Remotely Operated Vehicle at Large Pitch and Roll Angles

2019 18th European Control Conference (ECC), 2019

The paper deals with the issue of developing an attitude control system for a remotely operated v... more The paper deals with the issue of developing an attitude control system for a remotely operated vehicle (ROV) for large inclination angles (pitch, roll). The construction of the orientation control system is considered based on the traditional approach using Euler angles (yaw, pitch and roll). A transfer matrix general form of the ROV attitude control system was obtained. It was shown that with the increase of inclination angles the transfer matrix of the system becomes multivariable. Algorithms of disturbances compensation and a methodology for parameters selection for decomposition algorithm were proposed. The obtained results were verified during the in situ tests of the ROV “Iznos”, developed in Bauman Moscow State Technical University (BMSTU). The proposed decomposition algorithms allow to expand the ranges of working angles and to improve the quality of the control system performance without significant re-engineering of its structure.

Research paper thumbnail of Synthesis of an Attitude Control System for Unmanned Underwater Vehicle Using H-infinity Approach

Research paper thumbnail of Singularity-Free Attitude Control of the Unmanned Underwater Vehicle

2020 24th International Conference on System Theory, Control and Computing (ICSTCC)

Research paper thumbnail of Synthesis of an Attitude Control System for Unmanned Underwater Vehicle Using H-infinity Approach

Recently problems requiring control unmanned underwater vehicles (UUV) at large angles of inclina... more Recently problems requiring control unmanned underwater vehicles (UUV) at large angles of inclination (pitch and roll), become more frequent. Traditional attitude control systems use Euler angles. However, the performance of traditional systems decreases with the increasing of the tilt angles, which delays their use for new tasks. To solve this problem, stability analysis of the UUV's attitude control system according to the generalized Nyquist stability criterion is carried out. The analyses showed that the stability of the system depends on the UUV inclination along the roll. However, at large angles of inclination, the roll channel is subject to perturbations from the yaw and pitch channels. The roll control system synthesis is solved as the ∞-optimization problem with the requirements of low sensitivity to perturbations from other channels. The simulation results on the full non-linear UUV Aqua-MO model confirmed the efficiency of the approach in question and demonstrated the best quality in comparison with PD controller. The obtained stability condition and synthesis approach allow to expand the working angles and improve the quality of the existing UUV control systems. These results are useful for the development of new systems as well.

Research paper thumbnail of A Decomposition Algorithm for Attitude Control of the Remotely Operated Vehicle at Large Pitch and Roll Angles

The paper deals with the issue of developing an attitude control system for a remotely operated v... more The paper deals with the issue of developing an attitude control system for a remotely operated vehicle (ROV) for large inclination angles (pitch, roll). The construction of the orientation control system is considered based on the traditional approach using Euler angles (yaw, pitch and roll). A transfer matrix general form of the ROV attitude control system was obtained. It was shown that with the increase of inclination angles the transfer matrix of the system becomes multivariable. Algorithms of disturbances compensation and a methodology for parameters selection for decomposition algorithm were proposed. The obtained results were verified during the in situ tests of the ROV “Iznos”, developed in Bauman Moscow State Technical University (BMSTU). The proposed decomposition algorithms allow to expand the ranges of working angles and to improve the quality of the control system performance without significant re-engineering of its structure.

Research paper thumbnail of Approach to the Control System Design for a Highly Maneuverable Underwater Vehicle Operating Across the Entire Range of Orientation Angles

Podvodnye issledovaniia i robototehnika

Research paper thumbnail of Attitude Control System of a Highly Maneuverable Hybrid ROV for Ship-Hull Inspection

OCEANS 2021: San Diego – Porto, 2021

Usually, ROVs are operated at small pitch and roll angles. However, tasks appear that require the... more Usually, ROVs are operated at small pitch and roll angles. However, tasks appear that require their operation at a whole range of orientation angles. Such operating modes are necessary for the ROV “Iznos” with a hybrid propulsion system (includes both thrusters and wheels) developed in Bauman Moscow State Technical University for ship hull inspection.The control system is required to operate in whole range of orientation angles in two modes: tracking of reference yaw, pitch and roll angles (YPR – mode) set by operator and tracking desired rotations relative to the axis associated with the ROV. A traditional approach to a ROV attitude control implies the usage of Euler angles and has singularity and nonuniqueness problems at pitch ±90°. To avoid these problems attitude control using error quaternion feedback is used. The quality of the obtained control law is verified by field tests on the ROV “Iznos”. Performance of the system in YPR - mode was compared to the traditional approach based on Euler angles and traditional approach with decomposition algorithm. All approaches have the problem of perturbations between yaw, pitch, roll control channels.In turn, control system based on quaternions has a simple structure and acceptable quality for ROV for the ship-hull inspection.

Research paper thumbnail of A Decomposition Algorithm for Attitude Control of the Remotely Operated Vehicle at Large Pitch and Roll Angles

2019 18th European Control Conference (ECC), 2019

The paper deals with the issue of developing an attitude control system for a remotely operated v... more The paper deals with the issue of developing an attitude control system for a remotely operated vehicle (ROV) for large inclination angles (pitch, roll). The construction of the orientation control system is considered based on the traditional approach using Euler angles (yaw, pitch and roll). A transfer matrix general form of the ROV attitude control system was obtained. It was shown that with the increase of inclination angles the transfer matrix of the system becomes multivariable. Algorithms of disturbances compensation and a methodology for parameters selection for decomposition algorithm were proposed. The obtained results were verified during the in situ tests of the ROV “Iznos”, developed in Bauman Moscow State Technical University (BMSTU). The proposed decomposition algorithms allow to expand the ranges of working angles and to improve the quality of the control system performance without significant re-engineering of its structure.

Research paper thumbnail of Synthesis of an Attitude Control System for Unmanned Underwater Vehicle Using H-infinity Approach

Research paper thumbnail of Singularity-Free Attitude Control of the Unmanned Underwater Vehicle

2020 24th International Conference on System Theory, Control and Computing (ICSTCC)

Research paper thumbnail of Synthesis of an Attitude Control System for Unmanned Underwater Vehicle Using H-infinity Approach

Recently problems requiring control unmanned underwater vehicles (UUV) at large angles of inclina... more Recently problems requiring control unmanned underwater vehicles (UUV) at large angles of inclination (pitch and roll), become more frequent. Traditional attitude control systems use Euler angles. However, the performance of traditional systems decreases with the increasing of the tilt angles, which delays their use for new tasks. To solve this problem, stability analysis of the UUV's attitude control system according to the generalized Nyquist stability criterion is carried out. The analyses showed that the stability of the system depends on the UUV inclination along the roll. However, at large angles of inclination, the roll channel is subject to perturbations from the yaw and pitch channels. The roll control system synthesis is solved as the ∞-optimization problem with the requirements of low sensitivity to perturbations from other channels. The simulation results on the full non-linear UUV Aqua-MO model confirmed the efficiency of the approach in question and demonstrated the best quality in comparison with PD controller. The obtained stability condition and synthesis approach allow to expand the working angles and improve the quality of the existing UUV control systems. These results are useful for the development of new systems as well.

Research paper thumbnail of A Decomposition Algorithm for Attitude Control of the Remotely Operated Vehicle at Large Pitch and Roll Angles

The paper deals with the issue of developing an attitude control system for a remotely operated v... more The paper deals with the issue of developing an attitude control system for a remotely operated vehicle (ROV) for large inclination angles (pitch, roll). The construction of the orientation control system is considered based on the traditional approach using Euler angles (yaw, pitch and roll). A transfer matrix general form of the ROV attitude control system was obtained. It was shown that with the increase of inclination angles the transfer matrix of the system becomes multivariable. Algorithms of disturbances compensation and a methodology for parameters selection for decomposition algorithm were proposed. The obtained results were verified during the in situ tests of the ROV “Iznos”, developed in Bauman Moscow State Technical University (BMSTU). The proposed decomposition algorithms allow to expand the ranges of working angles and to improve the quality of the control system performance without significant re-engineering of its structure.