Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator
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Date
2010-01
Authors
Mat Suboh, Surina
Journal Title
Journal ISSN
Volume Title
Publisher
Universiti Sains Malaysia
Abstract
The underwater robotic manipulators (URMs) are different with the ordinary or landbased
robotic manipulators. Its dynamics have large uncertainties owing to the
buoyancy, force induced by the added mass/moment of inertia and the drag force.
Moreover, they are also affected by the crucial external disturbances such as currents
and waves. Therefore, it is difficult to construct a control law and not easy to guarantee
control performance.
Description
Keywords
Fuzzy Model-Reference Adaptive Control Method , Underwater Robotic Manipulator