Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System
Author
Source
Modelling and Simulation in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-14
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Santhakumar, Mohan. 2013. Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System. Modelling and Simulation in Engineering،Vol. 2013, no. 2013, pp.1-13.
https://search.emarefa.net/detail/BIM-502258
Modern Language Association (MLA)
Santhakumar, Mohan. Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System. Modelling and Simulation in Engineering No. 2013 (2013), pp.1-13.
https://search.emarefa.net/detail/BIM-502258
American Medical Association (AMA)
Santhakumar, Mohan. Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System. Modelling and Simulation in Engineering. 2013. Vol. 2013, no. 2013, pp.1-13.
https://search.emarefa.net/detail/BIM-502258
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-502258
