TRAJECTORY TRACKING CONTROL OF AN UNDERACTUATED UNDERWATER VEHICLE REDUNDANT MANIPULATOR SYSTEM

Date

2016-09-01

Author

Korkmaz, Ozan
İDER, SITKI KEMAL
Özgören, Mustafa Kemal

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The purpose of this study is to control the position of an underactuated underwater vehicle manipulator system (U-UVMS). It is possible to control the end-effector using a regular 6-DOF manipulator despite the undesired displacements of the underactuated vehicle within a certain range. However, in this study an 8-DOF redundant manipulator is used in order to increase the positioning accuracy of the end-effector. The redundancy is resolved according to the criterion of minimal vehicle and joint motions. The underactuated underwater vehicle redundant manipulator system is modeled including the hydrodynamic forces for the manipulator in addition to those for the autonomous underwater vehicle (AUV). The shadowing effects of the bodies on each other are also taken into account when computing the hydrodynamic forces. The Newton-Euler formulation is used to derive the system equations of motion including the thruster dynamics. In order to establish the endeffector trajectory tracking control of the system, an inverse dynamics control law is formulated. The effectiveness of the control law even in the presence of parameter uncertainties and disturbing ocean currents is illustrated by simulations.

Subject Keywords

UVMS, Redundant manipulator, Inverse dynamics control

URI

https://hdl.handle.net/11511/31799

Journal

ASIAN JOURNAL OF CONTROL

DOI

https://doi.org/10.1002/asjc.1291

Collections

Graduate School of Natural and Applied Sciences, Article

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Citation Formats

O. Korkmaz, S. K. İDER, and M. K. Özgören, “TRAJECTORY TRACKING CONTROL OF AN UNDERACTUATED UNDERWATER VEHICLE REDUNDANT MANIPULATOR SYSTEM,” ASIAN JOURNAL OF CONTROL, pp. 1593–1607, 2016, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/31799.