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Indian Journal of Geo-Marine Sciences (IJMS) >
IJMS Vol.38 [2009] >
IJMS Vol.38(3) [September 2009] >
| Title: | Modeling and control of 2-DOF underwater planar manipulator |
| Authors: | Suboh, Surina Mat
Rahman, Irfan Abd
Arshad, Mohd Rizal
Mahyuddin, Muhammad Nasiruddin |
| Keywords: | Fuzzy control
model-reference adaptive control
Takagi-Sugeno fuzzy system
Lyapunov stability theorem
underwater manipulator |
| Issue Date: | Sep-2009 |
| Publisher: | CSIR |
| Abstract: | 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. |
| Page(s): | 365-371 |
| ISSN: | 0975-1033 (Online); 0379-5136 (Print) |
| Source: | IJMS Vol.38(3) [September 2009]
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