Intelligent control of autonomous underwater vehicle-manipulator systems

Dr. Raj Pandian

Autonomous underwater vehicles (AUVs) have become the thrust area in underwater robotics, due to their advantages of autonomous operation, low-cost, and efficiency. However, the current generation of AUVs are not equipped with on-board manipulators, and so are limited to underwater surveying and reconnaisance. Development of coordinated and precise control methods for AUV-manipulator systems will extend their capabilities to underwater intervention and manipulation in futre. The control problem is challenging due to complex nonlinear system dynamics and uncertain hydrodynamic forces particularly in shallow water environments. This talk will focus on the development of model-free intelligent control of the systems using neuro-fuzzy control methods. The speaker will also briefly summarize his research in the areas of rehabilitation robotics using pneumatic actuators, and human power conversion.