Title :
Simplified dynamics and stochastic controller for underwater robots
Author :
Lévesque, B. ; Richard, M.J.
Author_Institution :
Dept. de Genie Mecanique, Laval Univ., Que., Canada
Abstract :
This paper introduces an augmented dynamical model for robotic manipulators, including an approximation method for the computation of drag forces. A stochastic adaptive controller, based on this model and on a model of noisy flow is then developed for the regulation of motions of a manipulator subjected to highly variable flows. The techniques described here will help to stabilize underwater systems without the help of an operator, which is an important problem due to long transmission delays in some control systems. Simulations with noisy flows show very interesting results
Keywords :
adaptive control; dynamics; marine systems; mobile robots; stochastic systems; augmented dynamical model; drag force; dynamics; manipulator; mobile robot; noisy flows; stability; stochastic adaptive controller; underwater robots; Control systems; Drag; Fluid dynamics; Force control; Manipulator dynamics; Motion control; Robot control; Solids; Stochastic processes; Underwater vehicles;
Conference_Titel :
OCEANS '93. Engineering in Harmony with Ocean. Proceedings
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-1385-2
DOI :
10.1109/OCEANS.1993.326113
