An underwater manipulator is a complex system, highly non-linear and subject to disturbances caused by underwater effects. To obtain a reliable system, robust control strategies have to be designed for the manipulator. The main contribution of this paper is the development of the low-level position/force control structure for an underwater manipulator. The proposed control strategy is planned in the operational space and combines together the parallel control structure for position/force applications with the sliding mode theory and the manipulator model information. The dynamic model of the system incorporates the hydrodynamic effects and an approximation of the end-effector force contact with the environment. This paper presents a method for computing the interaction force at the end-effector in the absence of a force–torque sensor. The control structure is validated through a Lyapunov-stability approach and experimental results. The control structure is tested on a 6 degrees-of-freedom underwater manipulator interacting with the underwater environment.
- Hybrid control
- Model based
- Robust control
- Task space
- Underwater manipulation
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
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- School of Engineering & Physical Sciences - Associate Professor
- School of Engineering & Physical Sciences, Institute of Sensors, Signals & Systems - Associate Professor
- Research Centres and Themes, Energy Academy - Associate Professor
Person: Academic (Research & Teaching)