How to model and control and underwater robotic arm

I have to model and control a robotic arm that is supposed to work underwater for an assignment.

I have modelled the arm on solidworks, then imported to sim mechanics using smlink plugin. i applied the hydrodynamic forces to the arm by creating frame in the solid and applying functions to them. and then i directly connected the system to the controller by taking measured outputs from the revolute joints. however i cant stabalize the controller. do i have to take jacobians and apply it to the system? if so, how should i go about doing it?

Thanks in advance.

Answer 1

[Steve Miller]

There are many different approaches for creating a stable controller for your robotic arm. I would suggest you look at at this example in Simulink Control Design:

https://www.mathworks.com/help/slcontrol/ug/multi-loop-pid-control-of-a-robot-arm.html

--Steve