Title :
Adaptive control of underwater vehicle-manipulator systems subject to joint limits
Author :
Sarkar, Nilanjan ; Yuh, Junku ; Podder, Tarun K.
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
The control of underwater vehicle-manipulator system (UVMS) is a challenging task because the dynamics of such a system is highly nonlinear, coupled, time-varying, and subject to hydrodynamic uncertainties and external disturbances. The paper presents a non-regressor based adaptive control for UVMS where centralized and coordinated trajectory planning is followed by decentralized control-one for the slower subsystem (vehicle) and other for the faster subsystem (manipulator). To avoid joint limits, kinematic redundancy of the system is resolved using the weighted pseudoinverse of the Jacobian matrix. The results from computer simulations demonstrate the effectiveness of this proposed method
Keywords :
Jacobian matrices; adaptive control; decentralised control; manipulator dynamics; matrix inversion; mobile robots; redundant manipulators; underwater vehicles; external disturbances; hydrodynamic uncertainties; joint limits; kinematic redundancy; nonregressor based adaptive control; trajectory planning; underwater vehicle-manipulator systems; weighted pseudoinverse; Adaptive control; Control systems; Couplings; Hydrodynamics; Nonlinear control systems; Nonlinear dynamical systems; Time varying systems; Trajectory; Uncertainty; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812995
