Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Teleoperation Controller Design for an Underwater Manipulator Using an $H_{\infty}$ Control Scheme Based on Disturbance Observer

외란관측기를 바탕으로 $H_{\infty}$제어 방법을 이용한 수중 로봇 팔의 원격조종 제어기 설계

  • 유지환 (한국과학기술원 기계공학과) ;
  • 권동수 (한국과학기술원 기계공학과) ;
  • 이판묵 (한국해양연구소 선박해양공학분소) ;
  • 홍석원 (한국해양연구소 선박해양공학분소)
  • Published : 2000.07.01
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Abstract

This paper presents a robust and systematic bilateral controller design method for a teleoperation of an underwater manipulator. Disturbance observer is used as a local controller of the master and underwater slave manipulator to set up the teleoperation system as a nominal model by compensating coupled nonlinear terms model uncertainties and external disturbances in the water. Using the linearized master/slave model a $H_{\infty}$ optimal control scheme is applied to systematically construct a force reflecting bilateral controller.

Keywords

References

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