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Modeling And Control Of 2-DOF Underwater Planar Manipulator.

Mat Suboh, Surina and Abd Rahman, Irfan and Arshad, Mohd Rizal and Mahyuddin, Muhammad Nasiruddin (2008) Modeling And Control Of 2-DOF Underwater Planar Manipulator. In: 2nd International Conference Underwater System Technology , 4 - 5 November 2008, Bali Indonesia.

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Abstract

This paper investigates the performance of the fuzzy model reference adaptive control applied on 2-dof underwater planar manipulator (MIMO system). Takagi-Sugeno fuzzification is chosen for the fuzzy system. Proportional-integral update law is used in the adjustment mechanism to obtain a fast parameters adaption.

Item Type:Conference or Workshop Item (Paper)
Subjects:T Technology > TK Electrical Engineering. Electronics. Nuclear Engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering
ID Code:13097
Deposited By:Mr Erwan Roslan
Deposited On:19 Oct 2009 09:26
Last Modified:19 Oct 2009 14:29

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