Coordinated Motion Control of Underwater Vehicle-Manipulator System with Minimizing Restoring Moments

被引：13

作者：

Han, Jonghui ^{[1
]}

Chung, Wan Kyun ^{[1
]}

机构：

[1] Pohang Univ Sci & Technol POSTECH, Robot Lab, Pohang, South Korea

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4650974

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, coordinated motion control of Underwater Vehicle-Manipulator System (UVMS) is addressed. In order for UVMS to carry out manipulation tasks alone, motion planning with consideration of redundancy and tracking control under disturbances are required. We propose redundancy resolution with optimization of restoring moments as motion planning and inverse optimal nonlinear H-infinity control as robust tracking controller. Numerical simulations are presented to demonstrate performance of proposed coordinated motion control of UVMS. As a result, control input for tracking is reduced and UVMS can track generated trajectories under parameter uncertainties.

引用

页码：3158 / 3163

页数：6

共 12 条

[1]

[Anonymous], P 3 C MAR CRAFT MAN

[2] Tracking control for underwater vehicle-manipulator systems with velocity estimation [J].