International Journal of Precision Engineering and Manufacturing

  • 제4권2호
  • /
  • Pages.13-22
  • /
  • 2003
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  • 2234-7593(pISSN)
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  • 2005-4602(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

An Adaptive and Robust Controller for the Undersea Robot Manipulator

  • Young-Sik kim (Division of Mechanical and Information Engineering Korea Maritime) ;
  • Park, Hyeung-Sik (Division of Mechanical and Information Engineering Korea Maritime)
  • 발행 : 2003.03.01
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초록

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason. the exact model of the undersea robot manipulator is difficult to obtain. In this paper, instead of having efforts to get the exact model of the robot dynamics, a control-based approach was performed. We modeled the dynamics of the undersea robot manipulator whose parameters are unknown, and then applied a proposed direct adaptive and robust control, which is different from previous studies. The unknown added mass, and added moment of inertia, drag force and friction are estimated by the direct adaptive control scheme, and the drag force which is dominant disturbance is compensated by the robust control. Also, stability of the proposed control scheme is analyzed.

키워드

참고문헌

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