DocumentCode
1595838
Title
Digital Type Disturbance Compensation Control of Underwater Vehicle-Manipulator Systems
Author
Yatoh, Takashi ; Sagara, Shinichi
Author_Institution
Dept. of Control Eng., Kyushu Inst. of Technol., Kitakyushu
fYear
2008
Firstpage
1
Lastpage
6
Abstract
We have proposed continuous and discrete time Resolved Acceleration Control (RAC) methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been demonstrated by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method. Experimental results show the effectiveness of the proposed method.
Keywords
manipulators; oceanographic techniques; underwater vehicles; RAC methods; digital type disturbance compensation control method; discrete time Resolved Acceleration Control methods; underwater vehicle-manipulator systems; Acceleration; Angular velocity; Control systems; Equations; Feedback; Hydrodynamics; Manipulators; Robot kinematics; Vectors; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean
Conference_Location
Kobe
Print_ISBN
978-1-4244-2125-1
Electronic_ISBN
978-1-4244-2126-8
Type
conf
DOI
10.1109/OCEANSKOBE.2008.4530919
Filename
4530919
Link To Document