Title :
Design of a teleoperation controller for an underwater manipulator
Author :
Kwon, Dong-Soo ; Ryu, Jee-Hwan ; Lee, Pan-Mook ; Hong, Seok-Won
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
A robust teleoperation controller design method for an underwater manipulator is proposed considering the master and the underwater slave separately. To achieve transparency and stability for a teleoperation of an underwater manipulator in unknown environments with time-varying uncertainties such as added mass, buoyancy, hydraulic drag and friction effect, an adaptive sliding mode control scheme is proposed for robust position tracking control of slave manipulator. To guarantee a force transparency in the master side, disturbance observer is used as a local controller for compensating a friction and coupled nonlinear dynamic effects of the master manipulator. Numerical simulations are performed to demonstrate the transparency and robustness of the proposed controller
Keywords :
adaptive control; compensation; control system synthesis; manipulators; nonlinear dynamical systems; robust control; telerobotics; time-varying systems; tracking; uncertain systems; underwater vehicles; variable structure systems; adaptive sliding mode control scheme; buoyancy; coupled nonlinear dynamic effects; disturbance observer; force transparency; friction compensation; friction effect; hydraulic drag; mass; master-slave system; robust position tracking control; robust teleoperation controller design method; stability; time-varying uncertainties; transparency; underwater manipulator; Design methodology; Drag; Friction; Manipulator dynamics; Master-slave; Programmable control; Robust control; Robust stability; Sliding mode control; Uncertainty;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845142
