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

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...

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Main Author:	Suboh, Surina Mat
Format:	Thesis
Language:	English
Published:	2010
Subjects:	TK1-9971 Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.usm.my/41599/1/Surina_Binti_Mat_Suboh24.pdf
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id	my-usm-ep.41599
record_format	uketd_dc
spelling	my-usm-ep.415992019-04-12T05:26:58Z Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator 2010-01 Suboh, Surina Mat TK1-9971 Electrical engineering. Electronics. Nuclear engineering 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. 2010-01 Thesis http://eprints.usm.my/41599/ http://eprints.usm.my/41599/1/Surina_Binti_Mat_Suboh24.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik & Elektronik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	TK1-9971 Electrical engineering Electronics Nuclear engineering
spellingShingle	TK1-9971 Electrical engineering Electronics Nuclear engineering Suboh, Surina Mat Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator
description	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.
format	Thesis
qualification_level	Master's degree
author	Suboh, Surina Mat
author_facet	Suboh, Surina Mat
author_sort	Suboh, Surina Mat
title	Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator
title_short	Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator
title_full	Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator
title_fullStr	Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator
title_full_unstemmed	Fuzzy Model-Reference Adaptive Control Method For An Underwater Robotic Manipulator
title_sort	fuzzy model-reference adaptive control method for an underwater robotic manipulator
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Elektrik & Elektronik
publishDate	2010
url	http://eprints.usm.my/41599/1/Surina_Binti_Mat_Suboh24.pdf
_version_	1747820936785035264

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

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