A Nonlinear Disturbance Observer Based Adaptive Control Scheme for an Underwater Manipulator

被引：0

作者：

Mohan, Santhakumar ^{[1
]}

机构：

[1] Indian Inst Technol Indore, Sch Engn, Discipline Mech Engn, Indore, Madhya Pradesh, India

来源：

TRENDS IN INTELLIGENT ROBOTICS, AUTOMATION, AND MANUFACTURING | 2012年 / 330卷

关键词：

underwater manipulator; disturbance observer; tracking control; adaptive control; nonlinear estimation;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

A new nonlinear disturbance observer based tracking control scheme for an underwater manipulator is presented in this paper. This observer overcomes the disadvantages of existing disturbance observers, which are designed or analyzed by the linear system techniques. The performance of the proposed tracking control scheme is demonstrated numerically by the payload compensation and interaction effects compensation for a two degrees of freedom vertical underwater manipulator.

引用

页码：12 / 19

页数：8

共 6 条

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