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Cooperative Control of Underwater Manipulators Based on the SDRE Method

the paper exams the problem of coordinated control of underwater manipulators when moving a load with a concentrated mass along a given trajectory. The control approach is based on the representation of nonlinear models of manipulator dynamics in the linear state-space form with state-dependent coefficients (SDC form). SDC form allows the application of suboptimal feedback control based on the solution of the Riccati equation (so-called State-Dependent Riccati Equation technique, SDRE). The study also shows two approaches to implement the cooperative control: a common controller for the entire cooperative system and a set of independent sub-controllers for the each of manipulators. In practical implementation, the failure of one sub-controller does not destroy the performance of the entire system. Therefore, it is recommended to use an independent design for experimental operations to keep the system more reliable. The efficiency of the method is shown in the example of cooperative control of two underwater planar manipulators.