Open Access Open Access  Restricted Access Subscription Access

Comparison of Fuzzy and PID Control Methods for Hybrid Position/Force Control of Underwater Manipulator

Surina Mat Suboh, Rizal Arshad

Abstract


In this paper we will compare the performance between 2 control algorithms which is applied to a 2 link manipulator operating underwater. The 2 control algorithms are the simple PID controller and the Fuzzy Logic controller. The controller is also broke down to 2 subsets which are the force controller and the position controller. In addition to this the system is exposed to an object in the environment in order to study the performance of the force controller. The aim of this paper is to see the difference between the end-effector trajectory tracking between the simple PID and fuzzy logic controller. The experiment shows that the PID controller is unable to converge to attain the necessary position due to the nonlinear dynamics involved in the manipulator model. The paper also discusses the impact of the underwater environment that it has towards the manipulator. Performance of the controller with different values of compliant environment are considered and analyzed

Full Text:

PDF

References


Ashitava Ghosal, Robotics Fundamental Concepts and Analysis, Oxford University Press, India, 2006

L. Sciavicco & B. Siciliano, Modelling and Control of Robot Manipulators, Springer-Verlag London Limited, Great Britain, 2000

Boris J. Lurie & Paul J. Enright, Classical Feedback Control with MATLAB, Marcel Decker Inc, New York, 2000

Gianluca Antonelli, Underwater Robots: Motion and Force Control of Vehicle-Manipulator systems, Springer, New York, 2003

Jasmin Velagic, Azra Adzemovic and Jasmina Ibrahimagic, Switching Force/Position Fuzzy Control of Robotic Manipulator, International Conference Advance Intelligent Mechatronics (AIM 2003)

Scott McMillan, David E. Orin & Robert B McGhee, Efficient Dynamic Simulation of an Underwater Vehicle with a Robotic Manipulator, IEEE Transaction on Systems, Man and Cybernetics, Vol 25, Aug 1995

PM Lee, BH Jeon, SW Hong, YK Lim, CM Lee, JW Park & CM Lee, System Design of an ROV with Manipulators and Adaptive Control of it, IEEE, 2000.

YoungJin Choi, Yonghwan Oh, Sang Rak Oh and Wan Kyun Chung, Auto-Tuning PID Controller for Robotic Manipulators, Proceedings of the American Control Conference, Denver, June 2003

Gianluca Antonelli, Fabrizio Caccavela, Stefano Chiaverini and Luigi Villani, Tracking Control for Underwater Vehicle-Manipulator Systems with

Velocity Estimation, IEEE Journal of Ocean Engineering, Vol 25, July 2000




DOI: http://dx.doi.org/10.21535%2FProICIUS.2007.v3.641

Refbacks

  • There are currently no refbacks.