DocumentCode :
3233116
Title :
Application of adaptive disturbance observer control to an underwater manipulator
Author :
Yuh, J. ; Zhao, S. ; Lee, P.M.
Author_Institution :
Autonomous Syst. Lab., Hawaii Univ., Honolulu, HI, USA
Volume :
4
fYear :
2001
fDate :
2001
Firstpage :
3244
Abstract :
Hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion and current. This paper presents a non-regressor based adaptive control scheme with a disturbance observer for tracking the trajectory of underwater mobile platform-mounted manipulators. The presented control system does not require any information about the system. The disturbance observer regards the difference between the actual output and the output of the nominal model as an equivalent disturbance applied to the nominal model. The adaptive control law then estimates control gains defined by the combinations of the bounded constants of parameter matrices of the nominal model with disturbance error. The performance of the proposed control scheme was evaluated by a computer simulation with a two-link planar manipulator mounted on a one 1-DOF mobile platform. The effect of hydrodynamic forces acting on the manipulator was also considered.
Keywords :
adaptive control; manipulator dynamics; observers; parameter estimation; tracking; underwater vehicles; adaptive control; control gain estimation; disturbance observer; hydrodynamic force effect; mobile platform; trajectory tracking; two-link planar manipulator; underwater manipulator; Adaptive control; Computer errors; Control systems; Error correction; Hydrodynamics; Programmable control; Trajectory; Transmission line matrix methods; Underwater tracking; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-6576-3
Type :
conf
DOI :
10.1109/ROBOT.2001.933118
Filename :
933118
Link To Document :
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