Title :
Robust and adaptive tracking control of a rigid link in a cross flow
Author :
Baicu, Catalin F. ; Rahn, Christopher D. ; Dawson, Darren M.
Author_Institution :
Dept. of Mech. Eng., Clemson Univ., SC, USA
Abstract :
A theoretical model for a rigid link with drag loading is developed. A robust controller is designed to accurately track a desired angle trajectory, despite an unknown but bounded cross flow velocity. For the case where the cross flow velocity and link length are known, an adaptive controller is designed to provide asymptotic tracking. An approximate linear parameterization is used for the drag loading. Numerical simulations demonstrate the effectiveness of the proposed controllers for two desired trajectories
Keywords :
adaptive control; asymptotic stability; manipulator dynamics; marine systems; nonlinear control systems; robust control; state feedback; tracking; two-term control; PI controller; adaptive tracking control; approximate linear parameterization; asymptotic stability; autonomous underwater vehicle; drag loading; hydrodynamic cross flow; robust control; state feedback; trajectory tracking; underwater manipulator dynamics; Adaptive control; Manipulator dynamics; Oceans; Programmable control; Remotely operated vehicles; Robot kinematics; Robust control; Torque control; Underwater vehicles; Velocity control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532060
