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A fuzzy hybrid singularity avoidance for underwater vehicle-manipulator systems
Information Control Problems in Manufacturing, Volume # 12 | Part# 1
Location: Ecole des Mines, Saint Etienne, France
National Organizing Committee Chair: Alexandre Dolgui,
Xavier Boucher
International Program Committee Chair: Gerard Morel,
Shimon Y. Nof,
Timothy L. Johnson
Conference Editor: Alexandre Dolgui,
Gérard Morel,
Carlos Pereira
Authors
Carlos Henrique dos Santos; Guilherme Bittencourt; Raul Guenther; Edson De Pieri
Digital Object Identifier (DOI)
10.3182/20060517-3-FR-2903.00123
Page Numbers:
211-216
Index Terms
fuzzy logic,hybrid systems,singularity,underwater vehicle-manipulator systems
Abstract
This paper investigates the possibility of applying a hybrid control with a fuzzy approach for redundancy resolution to an autonomous underwater vehicle-manipulator system (UVMS). This algorithm generates a desired trajectory for the vehicle that takes into account two control objectives: the energy savings and the increase of system manipulability by a smooth actuation. The computer simulation results demonstrate the efficiency of this approach.
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