Modeling and control of 2-DOF underwater planar manipulator

Abstract

This study investigates the performance of the fuzzy model reference adaptive control method applied on a 2-dof

underwater planar manipulator (MIMO system). Takagi-Sugeno fuzzification is chosen for the fuzzy system and the

proportional-integral update law is used in the adjustment mechanism to obtain a fast parameters adoption. The present

study consists the proposed controller performance in response to the need to control the manipulator with the added terms

in the dynamic equation, i.e., hydrodynamic effects brought about by ocean drift. In the presence of the hydrodynamic and

hydrostatic effects of sea water, the performance of the controller is analyzed in terms of servo tracking at each of the

manipulator joints. The simulation results demonstrate that the actual joint trajectories of the manipulator for both joints

asymptotically follow the desired trajectories defined by the reference model even though the plant is subjected to external

disturbances and input variations.