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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2014 Oceans - St. John's, OCEANS 2014
PublisherIEEE
ISBN (Print)9781479949182
DOIs
Publication statusPublished - 2014
Event2014 Oceans - St. John's - St. John's, United Kingdom
Duration: 14 Sep 201419 Sep 2014

Conference

Conference2014 Oceans - St. John's
Abbreviated titleOCEANS 2014
CountryUnited Kingdom
CitySt. John's
Period14/09/1419/09/14

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Ocean Engineering
  • Computer Networks and Communications

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