Robust nonlinear control of an underwater vehicle/manipulator system with composite dynamics

被引:0
作者
de Wit, CC [1 ]
Diaz, EO [1 ]
Perrier, M [1 ]
机构
[1] INPG, UMR CNRS 5528, Lab Automat Grenoble, ENSIEG, F-38402 Grenoble, France
来源
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词
underwater vehicles; robust control; singular perturbation theory;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper is devoted to the problem of non-linear robust control design for Underwater Vehicle/Manipulator (UVM) systems composed of a free-floating platform equipped with a robot manipulator. The different bandwidth characteristics of the composite vehicle/arm dynamics are used as a base's for the control design via singular perturbation theory. The main contribution of this paper is that a robust nonlinear control is only required in the slow-subsystem (vehicle dynamics). Thus, This control is only used to compensate the coupling effects from the arm to the basis. The paper also presents a comparative study between simple PD, a partial linearized control and the nonlinear robust feedback..
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页码:452 / 457
页数:2
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