Proceedings of the International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)

International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)

📍Gorakhpur, India🗓️ 12-13 March 2026
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Modeling and Control for Underwater Vehicle Manipulator System with Simscape Multibody

Authors
Bhushan Thool1, Rishabh Pratap Singh1, Jagadeesh Kadiyam1, *, Santakumar Mohan2
1Indian Institute of Technology Mandi, Mandi, Himachal Pradesh, India
2Indian Institute of Technology Palakkad, Palakkad, Kerala, India
*Corresponding author. Email: jagadeesh@iitmandi.ac.in
Corresponding Author
Jagadeesh Kadiyam
Available Online 31 August 2026.
DOI
10.2991/978-94-6239-750-7_73How to use a DOI?
Keywords
Underwater vehicle manipulator system (UVMS); Simscape Multibody; PD Based Control; Dynamic modelling; Hydrodynamic effects; High Fidelity Simulation
Abstract

This study presents a dynamic simulation of an underwater vehicle-manipulator system (UVMS) developed through Simulink using Simscape Multibody for high fidelity dynamic modelling and to examine system performance during an underwater valve turning task. The model is formulated in inertial reference frames, including hydrodynamic and hydrostatic effects, to represent underwater operating conditions. The numerical modelling show good dynamic relations between the floating vehicle and the manipulator. The manipulator’s motion disturbs the vehicle’s base and reduces the end-effector positioning accuracy. A proportional derivative controller is used to regulate manipulator motion; however, without vehicle control, the induced coupling leads to significant tracking errors and unsuccessful grasping. To overcome this, a vehicle motion control system is implemented to compensate for manipulator-induced disturbances. The results validate that coordinated control improves tracking performance and enables successful task execution, highlighting the importance of coupled dynamics in floating base UVMS for underwater intervention problems.

Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)
Series
Atlantis Highlights in Engineering
Publication Date
31 August 2026
ISBN
978-94-6239-750-7
ISSN
2589-4943
DOI
10.2991/978-94-6239-750-7_73How to use a DOI?
Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Bhushan Thool
AU  - Rishabh Pratap Singh
AU  - Jagadeesh Kadiyam
AU  - Santakumar Mohan
PY  - 2026
DA  - 2026/08/31
TI  - Modeling and Control for Underwater Vehicle Manipulator System with Simscape Multibody
BT  - Proceedings of the International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)
PB  - Atlantis Press
SP  - 1020
EP  - 1033
SN  - 2589-4943
UR  - https://doi.org/10.2991/978-94-6239-750-7_73
DO  - 10.2991/978-94-6239-750-7_73
ID  - Thool2026
ER  -