Simplified dynamics and stochastic controller for underwater robots

Abstract

This paper introduces an augmented dynamical model for robotic manipulators, including an approximation method for the computation of drag forces. A stochastic adaptive controller, based on this model and on a model of noisy flow is then developed for the regulation of motions of a manipulator subjected to highly variable flows. The techniques described here will help to stabilize underwater systems without the help of an operator, which is an important problem due to long transmission delays in some control systems. Simulations with noisy flows show very interesting results.<>