Investigation into the Dynamics and Control of an Underwater Vehicle-Manipulator System

Table 4

Controller parameter settings for simulations.

Vehicle controller parameters	Values
𝐾𝑝𝑉	diag(4.2, 2.2, 2.5, 0, 25, 27)
𝐾𝑑𝑉	diag(2.25, 1.2, 1.3, 0, 15, 13)
𝐾𝑖𝑉	diag(0.5, 0.2, 0.3, 0, 2.5, 2.2)
𝐾𝑃𝑉	diag(180, 130, 150, 0, 150, 130)
𝐾𝐷𝑉	diag(80, 100, 100, 0, 80, 90)
𝐾𝐼𝑉	diag(15, 12, 15, 0, 16, 18)
Manipulator controller parameters	Values
𝐾𝑝𝑅	diag(5, 10, 12)
𝐾𝑑𝑅	diag(3, 5, 8)
𝐾𝑖𝑅	diag(0.1, 0.2, 0.2)
𝐾𝑃𝑅	diag(60, 80, 75)
𝐾𝐷𝑅	diag(35, 40, 50)
𝐾𝐼𝑅	diag(1, 1.5, 2)