Motion Coordination for Underwater Vehicle-Manipulator Systems using a Fuzzy Hybrid Strategy

This paper proposes a fuzzy hybrid system that handles both discrete and continuous information. This system is used for motion coordination of an autonomous underwater vehicle-manipulator system (UVMS). This algorithm generates a desired trajectory for the vehicle that takes into account two control objectives: the energy savings and the increase of system maneuverability. Additionally, a projection method to explore all system redundancies by a switching rule is proposed. The computer simulation results demonstrate the efficiency of this approach.