A comparative study of neglected dynamics on an Underwater Vehicle/Manipulator system under nonlinear robust control.

被引：0

作者：

Díaz, EO ^{[1
]}

de Wit, CC ^{[1
]}

Perrier, M ^{[1
]}

机构：

[1] ENSIEG, INPG, CNRS, UMR 5528,Lab Automat Grenoble, F-38402 Grenoble, France

来源：

OCEANS'98 - CONFERENCE PROCEEDINGS, VOLS 1-3 | 1998年

关键词：

underwater vehicles; singular perturbation theory; nonlinear control; robust control;

D O I：

暂无

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

This paper is dedicated to the comparative study of different behaviors of an Underwater Vehicle/Manipulator (UVM) system when some of the control approach neglected dynamics are included in the model, such as sampling time implementation and the thruster nonlinearities. A robust nonlinear control based on simple-dynamic model is used. The neglected dynamics limit the nonlinear gain of the robust control and demand compensation of the input control signal.

引用

页码：936 / 940

页数：5

共 10 条

[1]

[Anonymous], P 3 C MAR CRAFT MAN

[2]

DEWIT CC, 1998, P AM CONTR C PHIL US

[3]

DEWIT CC, 1998, P INT C ROB AUT LEUV

[4]

DIAZ EO, 1996, 19LJ21953321285 LAG

[5]

FOSSEN TI, 1994, GUID CONTR OC VEH

[6]

HEALEY AJ, 1993, IEEE J OCEANIC ENG, V18

[7]

Khalil HK., 1992, NONLINEAR SYSTEMS

[8]

MCLAIN TW, 1996, P IEEE INT C ROB AUT

[9] EFFICIENT DYNAMIC SIMULATION OF AN UNDERWATER VEHICLE WITH A ROBOTIC MANIPULATOR [J].

MCMILLAN, S ;

ORIN, DE ;

MCGHEE, RB .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1995, 25 (08) :1194-1206

[10]

WILLIAMSON D, 1995, P EUR CONTR C ROM IT

← 1 →