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• Robust Model Predictive Control for Autonomous Underwater Vehicle – Manipulator System with Fuzzy Compensator

  Publikacja

  • H. Nejatbakhsh Esfahani

  - Polish Maritime Research - Rok 2019

  This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order to track desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performance can be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPC as a known proficient nonlinear control approach should be improved by the uncertainty estimator...

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• A Time Delay Controller Included Terminal Sliding Mode and Fuzzy Gain Tuning for Underwater Vehicle-Manipulator Systems

  Publikacja

  • H. Nejatbakhsh Esfahani

  - OCEAN ENGINEERING - Rok 2015

  An improved Time Delay Control (TDC) method for an Underwater Vehicle-Manipulator System (UVMS) is proposed. The proposed controller consists of three terms: a time-delay-estimation term that cancels nonlinearities of the UVMS dynamics, a Terminal Sliding Mode (TSM) term that provides a fast response and a PID term that reduces the tracking error. In addition the proposed controller uses fuzzy rules to adaptively tune the gains...

• Robust Model Predictive Control for Autonomous Underwater Vehicle–Manipulator System with Fuzzy Compensator

  Publikacja

  • H. Nejatbakhsh Esfahani

  - Polish Maritime Research - Rok 2019

  This paper proposes an improved Model Predictive Control (MPC) approach including a fuzzy compensator in order totrack desired trajectories of autonomous Underwater Vehicle Manipulator Systems (UVMS). The tracking performancecan be affected by robot dynamical model uncertainties and applied external disturbances. Nevertheless, the MPCas a known proficient nonlinear control approach should be improved by the...