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

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

2842

Lastpage

2847

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4777089

Filename

4777089