Proceedings ArticleDOI
Optimized robust controller for AUV-manipulator system
Periasamy Thangavel,Asokan Thondiyath,Singaperumal Makaram +2 more
- pp 945-950
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TLDR
The results show that the designed optimized controller provides the high performance in trajectory tracking of the manipulator and reduces the average percentage error of manipulator trajectory by considerable amount.Abstract:
This paper presents an optimized robust controller for trajectory control of an Autonomous Underwater Vehicle (AUV) — Manipulator system. The trajectory of a manipulator mounted on an AUV is highly affected by the dynamic coupling between the AUV and manipulator as well as the hydrodynamic parameter variations. Design of a controller to overcome these effects is presented. Unconstrained optimization method is used to optimize the parameters of the controller. Complete dynamics is modelled using bondgraph technique. Comparative error analysis with and without optimization parameters has been carried out. The results show that the designed optimized controller provides the high performance in trajectory tracking of the manipulator and reduces the average percentage error of manipulator trajectory by considerable amount.read more
Citations
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Journal ArticleDOI
A Time Delay Controller included terminal sliding mode and fuzzy gain tuning for Underwater Vehicle-Manipulator Systems
TL;DR: The proposed improved Time Delay Control method for an Underwater Vehicle-Manipulator System (UVMS) provides the high performance in trajectory tracking, but it also has an acceptable robustness in presence of the external disturbance and unknown forces/torques in comparison with conventional sliding mode controller.
Comparative study of trajectory control methodologies for underwater flexible rayleigh robot manipulator using bond graph approach
nbspSumit Kumar,nbspSunil Kumar +1 more
TL;DR: This research paper compares the trajectory control of flexible robotic manipulator using various controller like PID, Overwhelming and PI to establish overwhelming control strategy has been the best control strategy under the stipulated testing environment.
References
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Book
Engineering Optimization : Theory and Practice
TL;DR: This chapter discusses Optimization Techniques, which are used in Linear Programming I and II, and Nonlinear Programming II, which is concerned with One-Dimensional Minimization.
Journal ArticleDOI
Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization
Nilanjan Sarkar,Tarun Podder +1 more
TL;DR: In this paper, a motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed, which generates the desired trajectories for both the vehicle and the manipulator in such a way that the total hydrodynamic drag on the system is minimized.
Proceedings Article
Underwater robotics
TL;DR: Some key areas in current state-of-the-art underwater robotic technologies are described and future research direction is presented.
Journal ArticleDOI
A Coordinated Control of an Underwater Vehicle and Robotic Manipulator
H. Mahesh,Junku Yuh,R. Lakshmi +2 more
TL;DR: An adaptive control strategy for the coordinated control of an underwater vehicle and its robotic manipulator is described and the results show that the presented control system can provide the high performance of the vehicle and manipulator in the presence of unpredictable changes in the dynamics of the Vehicle and its environment.
Journal Article
Adaptive tracking control of underwater vehicle-manipulator systems based on the virtual decomposition approach.
TL;DR: A novel adaptive control law for the end-effector tracking problem of underwater vehicle-manipulator systems (UVMSs) is presented, which simplifies application to UVMSs with a large number of links, reduces the required computational burden, and allows efficient implementation on distributed computing architectures.
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