Ozan KORKMAZ, S. Kemal IDER, M. Kemal ÖZGÖREN

Bir Otonom Sualtı Aracı Manipülatör Sisteminin Yörünge Takip Kontrolü

Trajectory Tracking Control of an Autonomous Underwater Vehicle Manipulator System

ÖzetBu makalede, otonom bir sualtı aracı manipülatör (SAM) sistemi; hidrostatik kuvvetler, eklenmiş kütle, dinamik kaldırma, sürüklenme ve yanal kuvvetlerin oluşturduğu hidrodinamik kuvvetler dikkate alınarak modellenmiştir. Hidrodinamik kuvvetler hesaplanırken uzuvların birbiri üzerindeki gölgeleme etkileri de dikkate alınmıştır. Sistem hareket denklemleri, sualtı aracının eyletici dinamiği de dahil edilerek Newton-Euler formülasyonu kullanımıyla türetilmiş ve sistemin uç işlemcisinin yörünge takibi için ters dinamik kontrol yöntemi geliştirilmiştir. Benzetim sonuçları kontrol yönteminin etkin olduğunu göstermiştir. Anahtar Kelimeler: Sualtı Aracı Manipülatör (SAM) sistemi, modelleme, yörünge takip kontrolü. AbstractIn this paper, an autonomous underwater vehicle manipulator system (UVMS) is modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the links on each other are also taken into account when computing the hydrodynamic forces. The system equations of motion are then derived using Newton-Euler formulation including the thruster dynamics. Next, an inverse dynamics control algorithm is applied for the end-effector trajectory tracking of the UVMS. Simulation results illustrate the effectiveness of the control method. Keywords: Underwater vehicle manipulator system (UVMS), modeling, trajectory tracking control.

Anahtar Kelimeler:

sualtı aracı manipülatör (SAM) sistemi, modelleme, yörünge takip kontrolü

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In this paper, an autonomous underwater vehicle manipulator system (UVMS) is modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the links on each other are also taken into account when computing the hydrodynamic forces. The system equations of motion are then derived using NewtonEuler formulation including the thruster dynamics. Next, an inverse dynamics control algorithm is applied for the end-effector trajectory tracking of the UVMS. Simulation results illustrate the effectiveness of the control method

Keywords:

Underwater vehicle manipulator system (UVMS), modeling, trajectory tracking control,

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