Modelling, analysis, and control design of a hydrodynamically actuated manipulator
Loading...
Files
Date
2021
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
University of New Brunswick
Abstract
Defense Research and Development Canada (DRDC), in collaboration with the University of New Brunswick (UNB) and other partners, has proposed a program to develop an autonomous docking device capable of launching and recovering UUVs (Underwater Unmanned Vehicles) from a submerged submarine. The autonomous docking device being developed is called “hydrodynamically actuated manipulator” (HAM). The main objective of the HAM is to follow a real-time trajectory for launching and recovering UUVs. In this work, the first contribution is to provide a model for the HAM based on nonlinear ordinary differential equations. The second contribution is the stability assessment, and the estimation of convergence time of the closed-loop system based on a set of second order sliding mode controllers plus a PD term considering external uncertainties with linear and nonlinear growth. Numerical Simulations of a one-link pendulum and the HAM are considered as test beds in order to support the theoretical results.