Control and modeling of underwater flexible manipulator structure

The use of flexible structures in many engineering applications is expanding rapidly. Position control is delicate, such as angular position control of a flexible structure especially underwater condition. Flexible structure in an underwater condition often having the problem of the hub angle positi...

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Main Author:	Tan, Jackie Jia Jiun
Format:	Thesis
Language:	English
Published:	2016
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/81039/1/JackieTanJiaMFKM2016.pdf
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id	my-utm-ep.81039
record_format	uketd_dc
spelling	my-utm-ep.810392019-07-24T03:06:18Z Control and modeling of underwater flexible manipulator structure 2016 Tan, Jackie Jia Jiun TJ Mechanical engineering and machinery The use of flexible structures in many engineering applications is expanding rapidly. Position control is delicate, such as angular position control of a flexible structure especially underwater condition. Flexible structure in an underwater condition often having the problem of the hub angle position as the hub angle is affected by the inline force of the flexible structure underwater. To develop an optimum control system for the horizontal motion of such condition, the operating system must first be identified. A system model of an experimental test rig representing the Underwater Flexible Single Link Manipulator System (UFSLMS), needs to be developed before designing a controller to control the hub angle position. The objectives of this project are to identify the model and develop the controller to control the hub angle position of a UFSLMS. Previous studies have shown that parametric modelling involving Auto Regressive with Exogenous Input model using Recursive Least Squares algorithm, and non-parametric modelling involving Evolution Algorithm are suitable to model the UFSLMS system, with acceptably low Mean Square Error. The project is done by reviewing the UFSLMS dynamic modelling and control methodology. The collection of data from the UFSLMS system will be simulated and identified as the dynamic UFSLMS. A Proportional- Integral-Derivative controller is developed based on the system identification model, using heuristic techniques within MATLAB environment and robustness test is carried out at different magnitudes to determine the robustness of the controller. The performance of the controllers thus developed is verified and validated by simulation on MATLAB SIMULINK. The objectives are achieved when the controller is proven to be stable by effectively control the hub angle position in the horizontal motion underwater. 2016 Thesis http://eprints.utm.my/id/eprint/81039/ http://eprints.utm.my/id/eprint/81039/1/JackieTanJiaMFKM2016.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Tan, Jackie Jia Jiun Control and modeling of underwater flexible manipulator structure
description	The use of flexible structures in many engineering applications is expanding rapidly. Position control is delicate, such as angular position control of a flexible structure especially underwater condition. Flexible structure in an underwater condition often having the problem of the hub angle position as the hub angle is affected by the inline force of the flexible structure underwater. To develop an optimum control system for the horizontal motion of such condition, the operating system must first be identified. A system model of an experimental test rig representing the Underwater Flexible Single Link Manipulator System (UFSLMS), needs to be developed before designing a controller to control the hub angle position. The objectives of this project are to identify the model and develop the controller to control the hub angle position of a UFSLMS. Previous studies have shown that parametric modelling involving Auto Regressive with Exogenous Input model using Recursive Least Squares algorithm, and non-parametric modelling involving Evolution Algorithm are suitable to model the UFSLMS system, with acceptably low Mean Square Error. The project is done by reviewing the UFSLMS dynamic modelling and control methodology. The collection of data from the UFSLMS system will be simulated and identified as the dynamic UFSLMS. A Proportional- Integral-Derivative controller is developed based on the system identification model, using heuristic techniques within MATLAB environment and robustness test is carried out at different magnitudes to determine the robustness of the controller. The performance of the controllers thus developed is verified and validated by simulation on MATLAB SIMULINK. The objectives are achieved when the controller is proven to be stable by effectively control the hub angle position in the horizontal motion underwater.
format	Thesis
qualification_level	Master's degree
author	Tan, Jackie Jia Jiun
author_facet	Tan, Jackie Jia Jiun
author_sort	Tan, Jackie Jia Jiun
title	Control and modeling of underwater flexible manipulator structure
title_short	Control and modeling of underwater flexible manipulator structure
title_full	Control and modeling of underwater flexible manipulator structure
title_fullStr	Control and modeling of underwater flexible manipulator structure
title_full_unstemmed	Control and modeling of underwater flexible manipulator structure
title_sort	control and modeling of underwater flexible manipulator structure
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2016
url	http://eprints.utm.my/id/eprint/81039/1/JackieTanJiaMFKM2016.pdf
_version_	1747818298082328576

Control and modeling of underwater flexible manipulator structure

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