Modelling, analysis, and control design of a hydrodynamically actuated manipulator
| dc.contributor.advisor | Carretero, Juan | |
| dc.contributor.advisor | Sensinger, Jon | |
| dc.contributor.author | Santiesteban Cos, Raúl | |
| dc.date.accessioned | 2023-03-01T16:19:25Z | |
| dc.date.available | 2023-03-01T16:19:25Z | |
| dc.date.issued | 2021 | |
| dc.date.updated | 2023-03-01T15:01:32Z | |
| dc.description.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. | |
| dc.description.copyright | © Raúl Santiesteban Cos, 2021 | |
| dc.format | text/xml | |
| dc.format.extent | xi, 134 pages | |
| dc.format.medium | electronic | |
| dc.identifier.uri | https://unbscholar.lib.unb.ca/handle/1882/13500 | |
| dc.language.iso | en_CA | |
| dc.publisher | University of New Brunswick | |
| dc.rights | http://purl.org/coar/access_right/c_abf2 | |
| dc.subject.discipline | Mechanical Engineering | |
| dc.title | Modelling, analysis, and control design of a hydrodynamically actuated manipulator | |
| dc.type | master thesis | |
| thesis.degree.discipline | Mechanical Engineering | |
| thesis.degree.fullname | Master of Science in Engineering | |
| thesis.degree.grantor | University of New Brunswick | |
| thesis.degree.level | masters | |
| thesis.degree.name | M.Sc.E. |
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