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Task space trajectory tracking control of an underwater vehicle-manipulator system under ocean currents

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Title Task space trajectory tracking control of an underwater vehicle-manipulator system under ocean currents
 
Creator Santhakumar, M
 
Subject Underwater vehicle-manipulator system
Tracking control
Passivity based control
Coordination control
Kinematically redundant system
Underwater current
 
Description 675-683
  This paper
presents a new tracking control scheme for an underwater vehicle-manipulator
system (UVMS). The proposed task space passivity based controller is not only
used to track the given desired path but also allows the use of the self-motion
of the vehicle to perform power efficient trajectory because of its
kinematically redundant nature. In the proposed scheme, the primary task is to
track the given end-effector task space trajectory despite of the system
associated with external disturbances, system uncertainties and internal
noises. The secondary task as the energy savings requirement, the vehicle
motion is controlled and to be aligned with the estimated underwater current
orientation. The performance and effectiveness of the proposed coordinated control
motion of the UVMS is demonstrated numerically and confirmed with the specified
UVMS tasks. Simulation results show that the required control inputs for the
given tracking task are reduced, and the UVMS can successfully track the given
desired spatial trajectory.
 
Date 2013-12-13T12:39:54Z
2013-12-13T12:39:54Z
2013-10
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/24806
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.42(6) [October 2013]