Title :
A Region Reaching Control Scheme for Underwater Vehicle-Manipulator Systems
Author :
Sun, Y.C. ; Cheah, C.C.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
In this paper, a new region control scheme is proposed for underwater vehicle-manipulator systems (UVMS). In the proposed control concept, the desired objective can be specified as a region instead of a point. The proposed region control concept is a generalization of setpoint control problem because when the desired region is specified arbitrarily small, the control objective reduces to a point. Lyapunov-like function is proposed for the stability analysis. Simulation studies are presented to demonstrate the effectiveness of the proposed controller.
Keywords :
Lyapunov methods; manipulator dynamics; manipulator kinematics; stability; underwater vehicles; Lyapunov-like function; region reaching control; setpoint control problem; stability analysis; underwater vehicle-manipulator systems; Automatic control; Control systems; Earth; Jacobian matrices; Kinematics; Manipulator dynamics; Robots; Underwater vehicles; Vectors; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.364184
