In order to deal with the control problem of nonlinear underwater vehicle-manipulator system (UVMS) and overcome its lumped disturbances including the unmodeled uncertainties and external disturbances, this paper proposes an intelligent biomimetic control scheme. In this scheme, we firstly deduce the UVMS nonlinear dynamic equations to a linear error state-space model in case of the disturbances. Secondly, an H-infinity robust control scheme optimized by Grey Wolf Optimizer (GWO) is designed to make the system robustly work to overcome these lumped disturbances. As the conventional H-infinity robust controller is difficult to tune its weighted matrices, for solving the problem, the GWO is applied to find out the system best sub-optimal performance for controlling the UVMS. Finally, we make some simulations and conclude that the proposed intelligent biomimetic controller can satisfy the design requirements of controlling the UVMS, such as the rapid response, the accurate tracking reference, the control system stability and the disturbance attenuation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Intelligent H-Infinity Controller for Underwater Vehicle-Manipulator System


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Dai, Yong (author) / Gao, Hongwei (author) / Wu, Dongsheng (author) / Zhang, Yanzhu (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Publication date :

    2022-03-18


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    An Intelligent H-Infinity Controller for Underwater Vehicle-Manipulator System

    Dai, Yong / Gao, Hongwei / Wu, Dongsheng et al. | British Library Conference Proceedings | 2022


    A fuzzy controller for underwater vehicle-manipulator systems

    Xu, Bin / Sakagami, N. / Pandian, S.R. et al. | Tema Archive | 2005


    Development of a coordinated controller for underwater vehicle-manipulator systems

    Soylu, S. / Buckham, B.J. / Podhorodeski, R.P. | Tema Archive | 2008


    An Autonomous Underwater Vehicle Manipulator System for Underwater Target Capturing

    Bian, Xinyu / Jiang, Tao / Guo, Teng et al. | IEEE | 2022


    Underwater Vehicle Manipulator System (UVMS) With BlueROV2 and SeaArm-2 Manipulator

    Skaldebø, Martin / Schjølberg, Ingrid / Haugaløkken, Bent O. A. | British Library Conference Proceedings | 2022