Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator

Suboh, Surina Mat (2010) Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator. Masters thesis, Universiti Sains Malaysia.

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Abstract

Pengendali robotik dalam air (URM) adalah berbeza jika dibandingkan dengan pengendali robotik biasa atau yg berada di permukaan. Dinamiknya mempunyai ketidakpastian yang besar bergantung kepada daya apungan, daya yang dihasilkan oleh jisim tambahan/momen luas kedua dan daya geseran. Tambahan lagi, ia juga dipengaruhi oleh gangguan luaran yang penting seperti arus dan ombak. The underwater robotic manipulators (URMs) are different with the ordinary or landbased robotic manipulators. Its dynamics have large uncertainties owing to the buoyancy, force induced by the added mass/moment of inertia and the drag force. Moreover, they are also affected by the crucial external disturbances such as currents and waves.

Item Type:	Thesis (Masters)
Subjects:	T Technology > TK Electrical Engineering. Electronics. Nuclear Engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering
Divisions:	Kampus Kejuruteraan (Engineering Campus) > Pusat Pengajian Kejuruteraaan Elektrik & Elektronik (School of Electrical & Electronic Engineering) > Thesis
Depositing User:	Mr Mohammad Harish Sabri
Date Deposited:	30 Aug 2018 01:28
Last Modified:	12 Apr 2019 05:26
URI:	http://eprints.usm.my/id/eprint/41599

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