Dynamic Modeling and Vibration Suppression for Two-Link Underwater Flexible Manipulators

Dynamic Modeling and Vibration Suppression for Two-Link Underwater Flexible Manipulators

This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress the vibration of two-link underwater flexible manipulators. A dynamic model of the flexible manipulators considering hydrodynamic force is established by combining the Lagrange equation and Mo...

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Bibliographic Details
Main Authors: Hui Huang, Guoyuan Tang, Hongxuan Chen, Lijun Han, De Xie
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Flexible manipulators
hydrodynamic force
composite controller
vibration suppression
Online Access:https://ieeexplore.ieee.org/document/9749078/

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