scholarly journals Evaluation of Dynamic Coupling Intensity and Passive Attitude Control of Underwater Vehicle-Manipulator Systems

2021 ◽  
Vol 54 (16) ◽  
pp. 356-363
Author(s):  
Éverton L. de Oliveira ◽  
Gabriel S. Belém ◽  
Rodrigo M. Morais ◽  
Décio C. Donha
Keyword(s):  
Attitude Control ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Passive Attitude

Comparison of a Fuzzy Logic Controller With a P + D Control Law

1989 ◽  
Vol 111 (2) ◽  
pp. 128-137 ◽  
Author(s):  
S. Daley ◽  
K. F. Gill
Keyword(s):  
Fuzzy Logic ◽  
Attitude Control ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Good Control ◽  
Control Law ◽  
Dynamic Coupling ◽  
Process Knowledge ◽  
Logic Control ◽  
Limited Process

A study is described that compares the performance of a self-organizing fuzzy logic control law (SOC) with that of the more traditional P + D algorithm. The multivariate problem used for the investigation is the attitude control of a flexible satellite that has significant dynamic coupling of the axes. It is demonstrated that the SOC can provide good control, requires limited process knowledge and compares favorably with the P + D algorithm.

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

An attitude control system for underwater vehicle-manipulator systems

2010 ◽  
Author(s):  
Norimitsu Sakagami ◽  
Mizuho Shibata ◽  
Sadao Kawamura ◽  
Toshifumi Inoue ◽  
Hiroyuki Onishi ◽  
...  
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Underwater Vehicle ◽  
Attitude Control System

scholarly journals Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Mohan Santhakumar
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Model Reference Control ◽  
Control Scheme ◽  
Underwater Manipulator ◽  
Dynamics And Control ◽  
And Control

This study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle (AUV) are analyzed by considering the actuator and sensor characteristics. A model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS). The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties.

Sign in / Sign up

Export Citation Format

Share Document