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..

引用

页码：452 / 457

页数：2