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 language | English |
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| Title of host publication | 2014 Oceans - St. John's, OCEANS 2014 |
| Publisher | IEEE |
| ISBN (Print) | 9781479949182 |
| DOIs | |
| Publication status | Published - 2014 |
| Event | 2014 Oceans - St. John's - St. John's, United Kingdom Duration: 14 Sept 2014 → 19 Sept 2014 |
Conference
| Conference | 2014 Oceans - St. John's |
|---|---|
| Abbreviated title | OCEANS 2014 |
| Country/Territory | United Kingdom |
| City | St. John's |
| Period | 14/09/14 → 19/09/14 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Ocean Engineering
- Computer Networks and Communications