Title :
Redundancy resolution for underwater vehicle-manipulator systems using a fuzzy expert system
Author :
dos Santos, Carlos Henrique ; Bittencourt, Guilherme ; Guenther, Raul ; De Pieri, Edson
Author_Institution :
Department of Automation and Systems, Federal University of Santa Catarina, University Campus, Trindade, CEP 88040-900, Florianpolis, Brazil
Abstract :
In this paper, the problem concerning how to coordinate the movement of an autonomous underwater vehicle-manipulator system (UVMS) is investigated. It is proposed an algorithm based in fuzzy logic that generates a desired trajectory for the vehicle taking into account three control objectives: the energy savings, the increase of system manipulability and utilization of all degrees of freedom (dof) when necessary. In this last, a particular rule disposition to distribute all dof´s involved in task space is used. The simulation results demonstrate the efficiency of this approach.
Keywords :
Control systems; Electromagnetic forces; Force control; Hybrid intelligent systems; Laboratories; Magnetic levitation; Neural networks; Stators; Testing; Thermal pollution;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich, Germany
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4777089
