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Please use this identifier to cite or link to this item: https://dspace.iiti.ac.in/handle/123456789/7357
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dc.contributor.authorMohan, Santhakumaren_US
dc.date.accessioned2022-03-17T01:00:00Z-
dc.date.accessioned2022-03-21T10:53:51Z-
dc.date.available2022-03-17T01:00:00Z-
dc.date.available2022-03-21T10:53:51Z-
dc.date.issued2013-
dc.identifier.citationSanthakumar, M. (2013). Investigation into the dynamics and control of an underwater vehicle-manipulator system. Modelling and Simulation in Engineering, 2013 doi:10.1155/2013/839046en_US
dc.identifier.issn1687-5591-
dc.identifier.otherEID(2-s2.0-84890014702)-
dc.identifier.urihttps://doi.org/10.1155/2013/839046-
dc.identifier.urihttps://dspace.iiti.ac.in/handle/123456789/7357-
dc.description.abstractThis study addresses the detailed modeling and simulation of the dynamic coupling between an underwater vehicle and manipulator system. The dynamic coupling effects due to damping, restoring, and inertial effects of an underwater manipulator mounted on an autonomous underwater vehicle (AUV) are analyzed by considering the actuator and sensor characteristics. A model reference control (MRC) scheme is proposed for the underwater vehicle-manipulator system (UVMS). The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated in the presence of external disturbances and parameter uncertainties. © 2013 Mohan Santhakumar.en_US
dc.language.isoenen_US
dc.publisherHindawi Limiteden_US
dc.sourceModelling and Simulation in Engineeringen_US
dc.subjectManipulatorsen_US
dc.subjectModel reference adaptive controlen_US
dc.subjectProportional control systemsen_US
dc.subjectTwo term control systemsen_US
dc.subjectUnderwater equipmenten_US
dc.subjectAutonomous underwater vehicles (AUV)en_US
dc.subjectConventional proportional integralsen_US
dc.subjectExternal disturbancesen_US
dc.subjectModel reference controlen_US
dc.subjectParameter uncertaintyen_US
dc.subjectSensor characteristicsen_US
dc.subjectUnderwater manipulatoren_US
dc.subjectUnderwater vehicle manipulator systemsen_US
dc.subjectAutonomous underwater vehiclesen_US
dc.titleInvestigation into the dynamics and control of an underwater vehicle-manipulator systemen_US
dc.typeJournal Articleen_US
dc.rights.licenseAll Open Access, Gold, Green-
Appears in Collections:Department of Mechanical Engineering

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