Modeling and control of 2-DOF underwater planar manipulator

This study investigates the performance of the fuzzy model reference adaptive control method applied on a 2-dof underwater planar manipulator (MIMO system). Takagi-Sugeno fuzzification is chosen for the fuzzy system and the proportional-integral update law is used in the adjustment mechanism to obtain a fast parameters adoption. The present study consists the proposed controller performance in response to the need to control the manipulator with the added terms in the dynamic equation, i.e., hydrodynamic effects brought about by ocean drift. In the presence of the hydrodynamic and hydrostatic effects of sea water, the performance of the controller is analyzed in terms of servo tracking at each of the manipulator joints. The simulation results demonstrate that the actual joint trajectories of the manipulator for both joints asymptotically follow the desired trajectories defined by the reference model even though the plant is subjected to external disturbances and input variations.