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

Authors
Han, Seung-HunPham, Duc-Anh
Issue Date
Dec-2023
Publisher
Korean Institute of Electrical Engineers
Keywords
Controller; Dynamics; Mathematical model; Matlab/Simulink; Robot underwater; ROV
Citation
Journal of Electrical Engineering and Technology
Indexed
SCIE
SCOPUS
KCI
Journal Title
Journal of Electrical Engineering and Technology
URI
https://scholarworks.gnu.ac.kr/handle/sw.gnu/68980
DOI
10.1007/s42835-023-01714-6
ISSN
1975-0102
2093-7423
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. © 2023, The Author(s) under exclusive licence to The Korean Institute of Electrical Engineers.
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Han, Seung Hun
해양과학대학 (기계시스템공학과)
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