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A Study on Kinematics, Dynamics, and Fuzzy Logic Controller Design for Remotely Operated Vehicles

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Abstract

The operation of the robot underwater is done by a control system. Dynamic re-search is needed, it plays an important role in the research, operation, and development of underwater robots. Modeling the dynamics of the underwater robot with the highest possible accuracy is essential for the design of the robot controller. This task requires not only defining a mathematical model of the robot, but also describing the interaction between the robot and the water surrounding it. The equation of motion of the underwater robot is established by applying Newton Euler's equation to a freely moving solid and taking into account the interaction between the liquid and the structure. Many factors used in dynamic modeling of underwater robots have only relative accuracy. In this study, the author will introduce the dynamic calculations of ROV. In addition, the design of simple controllers for dynamic testing is also the foundation for the development of intelligent controllers. All simulation and testing of the results in this study were con-ducted by Matlab/Simulink.

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Abbreviations

\(x, y, z\) :

Location of ROV

\(\varnothing , \theta ,\uppsi\) :

Euler angles

\(u, v, w\) :

ROV long velocity

\(p, q, r\) :

Angular velocity of ROV

\(m\) :

Mass of the object

\(Ai\) :

Cosine matrix indicating the i th direction

\(B\) :

Distribution Matrix

\(C\) :

Matrix containing centrifugal and inertial coriolis

\(V\) :

Lyapunov function

\(T(t)\) :

Homogeneous coordinate transformation matrix

\(M\) :

ROV Mass Matrix

\({\mathrm{J}}_{\mathrm{o}}\) :

Matrix of moment of inertia of the body's center of mass

\(\omega\) :

Angular velocity vector of a solid

\(\alpha\) :

Vector of angular acceleration of a solid

\({v}_{p}^{0}\) :

Angular velocity vector of a rigid body P in a fixed frame of reference \({R}_{0}\)

\({a}_{p}^{0}\) :

Angular acceleration vector of a solid P in a fixed frame of reference \({R}_{0}\)

\(\widetilde{a}\) :

Wave Matrix

\(\widetilde{\eta }\) :

Positional deviation matrix between actua-l and desired

\(u\) :

Vector coordinate points in the reference system attached to the object

\(v\) :

The linear and angular velocity vectors of ROV

\(q, \eta\) :

The generalized coordinate vector that det-ermines the position and direction of the RO-V

\(\dot{\eta }, \ddot{\eta }\) :

First and second order derivatives of n wi-th respect to time, respectively

\(J\) :

Jacobi matrix or Euler angle transformati-on matrix

\(y\) :

Vector contains the components of veloci-ty and angular velocity of an object in the \({R}_{0}\) system

\(\tau\) :

Force vector acting on ROV

\(g\) :

Vector of gravity and repulsion due to dis-placement of water volume

\({l}_{0}\) :

The object momentum matrix

\(T\) :

Kinetic energy of the object

\({K}_{p}, {K}_{d}, {K}_{i}\) :

The parameter matrices of the PID contro-ller

\(DOF\) :

Degrees of freedom of the system

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Funding

Following are results of a study on the “Leaders in industry-university Cooperation 3.0” Project, supported by the Ministry of Education and National Research Foundation of Korea.

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Authors and Affiliations

  1. Department of Mechanical System Engineering, Gyeongsang National University, Tongyeong, 53064, Korea

    Seung-Hun Han & Duc-Anh Pham

Authors
  1. Seung-Hun Han
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  2. Duc-Anh Pham
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Contributions

S-HH; Formal analysis, software, resources, data curation, writing—original draft preparation, data collected and analyzed, visualization, D-AP; supervision, project administration, writing—review and editing. All authors have read and agreed to the published version of the manuscript.

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Correspondence to Duc-Anh Pham.

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Han, SH., Pham, DA. A Study on Kinematics, Dynamics, and Fuzzy Logic Controller Design for Remotely Operated Vehicles. J. Electr. Eng. Technol. 19, 2585–2596 (2024). https://doi.org/10.1007/s42835-023-01714-6

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