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Modeling and control of 2-DOF underwater planar manipulator

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Title Modeling and control of 2-DOF underwater planar manipulator
 
Creator Suboh, Surina Mat
Rahman, Irfan Abd
Arshad, Mohd Rizal
Mahyuddin, Muhammad Nasiruddin
 
Subject Fuzzy control
model-reference adaptive control
Takagi-Sugeno fuzzy system
Lyapunov stability theorem
underwater manipulator
 
Description 365-371
This study investigates the performance of the fuzzy
model reference adaptive control method applied on a 2-dof

underwater planar manipulator (MIMO system).
Takagi-Sugeno fuzzification is chosen for the fuzzy system and the

proportional-integral update law is used in the
adjustment mechanism to obtain a fast parameters adoption. The present

study consists the proposed controller performance in
response to the need to control the manipulator with the added terms

in the dynamic equation, i.e., hydrodynamic effects
brought about by ocean drift. In the presence of the hydrodynamic and

hydrostatic effects of sea water, the performance of the
controller is analyzed in terms of servo tracking at each of the

manipulator joints. The simulation results demonstrate
that the actual joint trajectories of the manipulator for both joints

asymptotically follow the desired trajectories defined by
the reference model even though the plant is subjected to external

disturbances and input variations.
 
Date 2009-10-19T08:46:25Z
2009-10-19T08:46:25Z
2009-09
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/6215
 
Language en_US
 
Publisher CSIR
 
Source IJMS Vol.38(3) [September 2009]