Dynamic coupling and control issues for a lightweight underwater vehicle manipulator system

Author

Barbalata, Corina ; Dunnigan, Matthew W. ; Petillot, Yvan

Author_Institution

Sch. of Eng. & Phys. Sci., Heriot-Watt Univ., Edinburgh, UK

fYear

2014

fDate

14-19 Sept. 2014

Firstpage

1

Lastpage

6

Abstract

This paper presents a study of the interaction effects between a lightweight underwater vehicle and the attached manipulator. Based on a tree representation of the system, the dynamic and hydrodynamic model of the UVMS is computed and the coupling effects are analysed. Simulations show that having a manipulator with considerable mass compared with the vehicle significantly influences the stability of the system. Gaining a clear understanding of the coupling effects is important for designing the control laws. Moreover, it is possible that incorporating these disturbances in the control methods can improve the performance of the UVMS.

Keywords

autonomous underwater vehicles; control system synthesis; hydrodynamics; manipulators; UVMS; control law design; coupling effects; dynamic control issues; dynamic coupling; dynamic model; hydrodynamic model; lightweight underwater vehicle manipulator system; tree representation; Dynamics; Joints; Manipulator dynamics; Mathematical model; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans - St. John's, 2014

Conference_Location

St. John´s, NL

Print_ISBN

978-1-4799-4920-5

Type

conf

DOI

10.1109/OCEANS.2014.7002989

Filename

7002989