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 proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties.
Highlights
The underwater manipulator has turned into a critical part/tool of underwater vehicles for performing interactive tasks such as opening and closing of valves, cutting, drilling, sampling, and laying in the fields of scientific research and ocean systems engineering
The increasing in demand for more efficient, precise, and accurate underwater autonomous manipulation has induced many researches in this field, which includes the dynamic model and effective simulation of an underwater manipulator mounted on an underwater vehicle
The controller gain values are tuned based on the genetic algorithms (GA) for minimizing the integral squared error (ISE) as the cost/objective function [23]
Summary
The underwater manipulator has turned into a critical part/tool of underwater vehicles for performing interactive tasks such as opening and closing of valves, cutting, drilling, sampling, and laying in the fields of scientific research and ocean systems engineering. A nonlinear model-based control scheme that controlled the vehicle and manipulator simultaneously was developed and investigated [8]. In addition to these studies, some of the researches were focused on estimating hydrodynamic parameters of these systems [8], the reduction of the interaction effects (dynamic coupling) between the manipulator and the vehicle [9], and the manipulability and workspace analysis of the underwater manipulator on remotely operated vehicle (ROV) [10]. There have been some research attempts to overcome the parameter uncertainties on underwater robots, Modelling and Simulation in Engineering very few attempts considered the problem of uncertainties associated with time varying parameters on UVMS with manipulator motion causing dynamic coupling.
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