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dc.contributor.advisorDunnigan, Doctor Matthew W.
dc.contributor.authorIsmail, Zool Hilmi
dc.date.accessioned2013-02-27T13:28:26Z
dc.date.available2013-02-27T13:28:26Z
dc.date.issued2011-01
dc.identifier.urihttp://hdl.handle.net/10399/2507
dc.description.abstractThis thesis is concerned with the control aspects for underwater tasks performed by marine robots. The mathematical models of an underwater vehicle and an underwater vehicle with an onboard manipulator are discussed together with their associated properties. The task-space regulation problem for an underwater vehicle is addressed where the desired target is commonly specified as a point. A new control technique is proposed where the multiple targets are defined as sub-regions. A fuzzy technique is used to handle these multiple sub-region criteria effectively. Due to the unknown gravitational and buoyancy forces, an adaptive term is adopted in the proposed controller. An extension to a region boundary-based control law is then proposed for an underwater vehicle to illustrate the flexibility of the region reaching concept. In this novel controller, a desired target is defined as a boundary instead of a point or region. For a mapping of the uncertain restoring forces, a least-squares estimation algorithm and the inverse Jacobian matrix are utilised in the adaptive control law. To realise a new tracking control concept for a kinematically redundant robot, subregion tracking control schemes with a sub-tasks objective are developed for a UVMS. In this concept, the desired objective is specified as a moving sub-region instead of a trajectory. In addition, due to the system being kinematically redundant, the controller also enables the use of self-motion of the system to perform sub-tasks (drag minimisation, obstacle avoidance, manipulability and avoidance of mechanical joint limits).en_US
dc.language.isoenen_US
dc.publisherHeriot-Watt Universityen_US
dc.publisherEngineering and Physical Sciencesen_US
dc.rightsAll items in ROS are protected by the Creative Commons copyright license (http://creativecommons.org/licenses/by-nc-nd/2.5/scotland/), with some rights reserved.
dc.titleTask-space dynamic control of underwater robotsen_US
dc.typeThesisen_US


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