Title :
Controller Design for Manipulator Trajectory Control of an AUV - Manipulator System
Author :
Periasamy, T. ; Asokan, T. ; Singaperumal, M.
Author_Institution :
Dept. of Mech. Eng., Precision Eng. & Instrum. Lab., Chennai
Abstract :
The design of a trajectory controller for an underwater manipulator mounted on an autonomous underwater vehicle (AUV) is presented in this paper. The dynamic model of the system has been developed using bond graph modeling technique. The impact of hydrodynamic effects such as added mass, viscous drag, buoyancy force etc. on vehicle motion, and the coupled dynamics between the vehicle and the manipulator have been modeled and simulated using 20-SIM simulation software. In order to eliminate the trajectory errors of the manipulator, a PD controller with buoyancy compensation has been designed and implemented for a planar AUV with two-degrees of freedom onboard planar manipulator. Details of controller design and performance analysis of the controller on trajectory tracking are presented. Simulation results confirm the effectiveness of the controller in reducing the joint trajectory errors due to AUV-manipulator coupling.
Keywords :
PD control; control system synthesis; manipulators; remotely operated vehicles; underwater vehicles; AUV-manipulator coupling; AUV-manipulator system; PD controller; autonomous underwater vehicle; bond graph modeling; buoyancy compensation; buoyancy force; controller design; coupled dynamics; dynamic model; joint trajectory errors due; manipulator trajectory control; onboard planar manipulator; planar AUV; trajectory controller; trajectory tracking; underwater manipulator; vehicle motion; viscous drag; Bonding; Control systems; Drag; Error correction; Hydrodynamics; Manipulator dynamics; PD control; Remotely operated vehicles; Underwater vehicles; Vehicle dynamics; AUV-Manipulator system; Bond graph; Buoyancy compensation; controller design;
Conference_Titel :
Industrial and Information Systems, 2008. ICIIS 2008. IEEE Region 10 and the Third international Conference on
Conference_Location :
Kharagpur
Print_ISBN :
978-1-4244-2806-9
Electronic_ISBN :
978-1-4244-2806-9
DOI :
10.1109/ICIINFS.2008.4798466
