A FUZZY HYBRID APPROACH TO INVERSE KINEMATICS OF UNDERWATER VEHICLE-MANIPULATOR SYSTEMS

This paper investigates the possibility of applying a hybrid control with a fuzzy approach for redundancy resolution to an autonomous underwater vehicle-manipulator system (UVMS). The proposed algorithm generates a desired trajectory for the vehicle that takes into account the energy savings and the increase of system manipulability by a smooth actuation. Simulation results demonstrate the efficiency of this approach.