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Trajectory tracking control of an underactuated underwater vehicle redundant manipulator system

dc.authorid Ider, Sitki Kemal/0000-0001-5869-893X
dc.authorid Ozgoren, M. Kemal/0000-0002-7125-4580
dc.authorscopusid 24465423200
dc.authorscopusid 7003398675
dc.authorscopusid 6507771462
dc.authorwosid Ozgoren, Kemal/Afu-7709-2022
dc.authorwosid Korkmaz, Ozan/T-4223-2019
dc.contributor.author Korkmaz, Ozan
dc.contributor.author İder, Sıtkı Kemal
dc.contributor.author Ider, S. Kemal
dc.contributor.author Ozgoren, M. Kemal
dc.contributor.authorID 108608 tr_TR
dc.contributor.authorID 7866 tr_TR
dc.contributor.other Makine Mühendisliği
dc.date.accessioned 2017-06-09T07:41:35Z
dc.date.available 2017-06-09T07:41:35Z
dc.date.issued 2016
dc.department Çankaya University en_US
dc.department-temp [Korkmaz, Ozan] Sci & Technol Res Council Turkey, Def Ind Res & Dev Inst, Ankara, Turkey; [Ider, S. Kemal] Cankaya Univ, Dept Mech Engn, Ankara, Turkey; [Ozgoren, M. Kemal] Middle East Tech Univ, Dept Mech Engn, Ankara, Turkey en_US
dc.description Ider, Sitki Kemal/0000-0001-5869-893X; Ozgoren, M. Kemal/0000-0002-7125-4580 en_US
dc.description.abstract The purpose of this study is to control the position of an underactuated underwater vehicle manipulator system (U-UVMS). It is possible to control the end-effector using a regular 6-DOF manipulator despite the undesired displacements of the underactuated vehicle within a certain range. However, in this study an 8-DOF redundant manipulator is used in order to increase the positioning accuracy of the end-effector. The redundancy is resolved according to the criterion of minimal vehicle and joint motions. The underactuated underwater vehicle redundant manipulator system is modeled including the hydrodynamic forces for the manipulator in addition to those for the autonomous underwater vehicle (AUV). The shadowing effects of the bodies on each other are also taken into account when computing the hydrodynamic forces. The Newton-Euler formulation is used to derive the system equations of motion including the thruster dynamics. In order to establish the endeffector trajectory tracking control of the system, an inverse dynamics control law is formulated. The effectiveness of the control law even in the presence of parameter uncertainties and disturbing ocean currents is illustrated by simulations. en_US
dc.description.publishedMonth 9
dc.description.woscitationindex Science Citation Index Expanded
dc.identifier.citation Korkmaz, O., İder, S.K., Özgçren, M.K. (2016). Trajectory tracking control of an underactuated underwater vehicle redundant manipulator system. Asian Journal Of Control, 18(5), 1593-1607. http://dx.doi.org/10.1002/asjc.1291 en_US
dc.identifier.doi 10.1002/asjc.1291
dc.identifier.endpage 1607 en_US
dc.identifier.issn 1561-8625
dc.identifier.issn 1934-6093
dc.identifier.issue 5 en_US
dc.identifier.scopus 2-s2.0-84963653900
dc.identifier.scopusquality Q2
dc.identifier.startpage 1593 en_US
dc.identifier.uri https://doi.org/10.1002/asjc.1291
dc.identifier.volume 18 en_US
dc.identifier.wos WOS:000388278000001
dc.identifier.wosquality Q3
dc.language.iso en en_US
dc.publisher Wiley en_US
dc.relation.publicationcategory Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı en_US
dc.rights info:eu-repo/semantics/closedAccess en_US
dc.scopus.citedbyCount 17
dc.subject Uvms en_US
dc.subject Redundant Manipulator en_US
dc.subject Inverse Dynamics Control en_US
dc.title Trajectory tracking control of an underactuated underwater vehicle redundant manipulator system tr_TR
dc.title Trajectory Tracking Control of an Underactuated Underwater Vehicle Redundant Manipulator System en_US
dc.type Article en_US
dc.wos.citedbyCount 12
dspace.entity.type Publication
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