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Controlling and Stabilizing the Position of Remotely Operated Underwater Vehicle Equipped with a Gripper

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Abstract

Gripper mounted remotely operated underwater vehicle (ROUV) delivers more attractive and flexible solution to grasp the wanted objects inside the deep water. The main aim of this research is to stabilize and control the position of fully actuated (ROUV) equipped with a gripper. The nonlinear model based observer along with proportional, integral and derivative (PID) controller designed to stabilize and control the position of fully actuated ROUV along with the motion of attached gripper in it. However, the PID controller utilize to control the altitude of the vehicle and nonlinear-based observer with PID controller designed to control and stabilize the attitude of ROUV. The designed control algorithm applied on the model of six degrees of freedom (6 DOF) ROUV attached with a gripper that has (2 DOF) that makes total (8 DOF) to control. The hydrodynamic behavior, instability that produces by the arm that is the main reason to design two different controllers to control and stabilize the altitude and attitude of ROUV. Hence, it observes that designed control scheme has better stability and better transient behavior.

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Acknowledgements

The above research is dedicated to Professor Li Xinde, School of Automation Engineering, South-East University, Nanjing, Jiangsu, China.

Funding

This work was supported in part by the National Natural Science Foundation of China under Grant 61573097 and 91748106, in part by Key Laboratory of Integrated Automation of Process Industry (PAL-N201704), in part by the Fundamental Research Funds for the Central Universities (3208008401), in part by the Qing Lan Project and Six Major Top-talent Plan, and in part by the Priority Academic Program Development of Jiangsu Higher Education Institutions.

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Authors and Affiliations

  1. School of Automation Engineering, South East University, Nanjing, China

    Zain Anwar Ali & Xinde Li

  2. Department of Electronic Engineering, Sir Syed University of Engineering and Technology, Karachi, Pakistan

    Muhammad Ahsan Tanveer

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  1. Zain Anwar Ali
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  2. Xinde Li
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  3. Muhammad Ahsan Tanveer
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Correspondence to Xinde Li.

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Ali, Z.A., Li, X. & Tanveer, M.A. Controlling and Stabilizing the Position of Remotely Operated Underwater Vehicle Equipped with a Gripper. Wireless Pers Commun 116, 1107–1122 (2021). https://doi.org/10.1007/s11277-019-06938-2

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