This paper presents the modeling approach and the control framework developed for the ROBUST EU Horizon 2020 project. The goal of this project is to showcase technologies and methodologies for future autonomous mineral exploration missions in deep‐sea sites with an Underwater Vehicle‐Manipulator System. Within the aim to make the system reliable in performing autonomously the entire mission, specific modeling, navigation, and control solutions are proposed. In particular, the multihull vehicle hydrodynamic model is derived and experimentally validated, and then used in the implementation of the navigation filter which provides the necessary feedback for the control framework. The latter computes, using a task priority approach, the reference system velocity and control forces for enabling the system desired behaviors. The overall navigation‐control architecture has been validated through several sea trials, leading to the final experimental campaign held in Cagliari, Sardinia, Italy, in October 2019, where the overall ROBUST mission was demonstrated. The obtained results are reported to show the effectiveness of the developed framework.

中文翻译：

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海洋采矿用多体水下航行器机械手系统建模与控制的实验验证

本文介绍了为ROBUST EU Horizo​​n 2020项目开发的建模方法和控制框架。该项目的目的是展示具有水下车辆操纵器系统的深海场所未来自主矿产勘探任务的技术和方法。为了使系统能够可靠地自主执行整个任务，提出了特定的建模，导航和控制解决方案。特别是，多体车辆流体动力学模型被导出并通过实验验证，然后用于导航过滤器的实现中，该导航过滤器为控制框架提供了必要的反馈。后者使用任务优先级方法计算参考系统速度和控制力，以启用系统所需的行为。整个导航控制架构已通过几次海上试验得到验证，从而导致了最终的实验战役于2019年10月在意大利撒丁岛的卡利亚里举行，展示了整体鲁棒飞行任务。据报道，获得的结果表明了所开发框架的有效性。