Investigation into the dynamics and control of an underwater vehicle-manipulator system

Authors:
Mohan Santhakumar
Affiliations:
Centre for Robotics and Control, Mechanical Engineering, Indian Institute of Technology Indore, Madhya Pradesh, India
Venue:
Modelling and Simulation in Engineering
Year:
2013

Citing 2
Cited 0

A Control Module Scheme for an Underactuated Underwater Robotic Vehicle

Journal of Intelligent and Robotic Systems
Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (Springer Tracts in Advanced Robotics)

Underwater Robots: Motion and Force Control of Vehicle-Manipulator Systems (Springer Tracts in Advanced Robotics)

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Abstract

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 proportionalintegral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties.