DocumentCode
1665050
Title
An adaptive controller for underwater vehicle-manipulator systems including thruster dynamics
Author
Taira, Yuichiro ; Oya, Masahiro ; Sagara, Shinichi
Author_Institution
Dept. of Ocean Mech. Eng., Nat. Fisheries Univ., Shimonoseki, Japan
fYear
2010
Firstpage
185
Lastpage
190
Abstract
In this paper we develop a controller for underwater vehicle-manipulator systems. The main feature is to take into account the dynamics of thrusters in the design of the controller. In order to struggle with the nonlinearities of thrusters, we propose a new error representation for thrusters, and then we develop the robust adaptive tracking controller.
Keywords
adaptive control; control nonlinearities; control system synthesis; manipulator dynamics; position control; robust control; underwater vehicles; robust adaptive tracking controller; thruster dynamics; thruster nonlinearities; underwater vehicle-manipulator system; Jacobian matrices; Manipulators;
fLanguage
English
Publisher
ieee
Conference_Titel
Modelling, Identification and Control (ICMIC), The 2010 International Conference on
Conference_Location
Okayama
Print_ISBN
978-1-4244-8381-5
Electronic_ISBN
978-0-9555293-3-7
Type
conf
Filename
5553568
Link To Document