Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지

Non-regressor Based Adaptive Tracking Control of an Underwater Vehicle-mounted Manipulator

수중 선체에 장착된 로봇팔 궤적의 비귀환형 적응제어

  • 여준구 (하와이대학교 기계공학과)
  • Published : 2000.05.01
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Abstract

This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

Keywords

References

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