Combined dynamics and kinematics networked fuzzy task priority motion planning for underwater vehicle-manipulator systems

The underwater vehicle-manipulator systems (UVMS) face significant challenges in trajectory tracking and motion planning because of external disturbance (current payload) kinematic redundancy. Former algorithms can finish the end-effector (EE) free singularity redundancy solution alone. However, only a few analytical studies have been conducted on coordinated UVMS considering dynamics controller. This article introduces combined kinematics networked fuzzy task priority method to solve above problems. It avoids assumption perfect dynamic control. Firstly, eliminate error, transformation from joint space is proposed. Without chattering, an outer loop sliding mode controller designed for EE’s trajectory. Further, ensure vehicle’ posture stability constraint, frame with error used UVMS, which limits map into null prioritized tasks, weight gains are adopted guarantee orthogonality secondary tasks. On top that, gain weighted updated by logic. proposed algorithm achieves better performance. Effectiveness validated numerical simulation.