Underwater robotic vehicles (URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle play the role of manipulation. URV motions are determined by inherent dynamic couplings between active and passive joints. Furthermore, the control problem becomes complex since there should be considered many hydrodynamic terms as well as intrinsic model uncertainties. To cope with these difficulties, we propose a disturbance observer-based robust control algorithm for underwater manipulators with passive joints. The proposed control algorithm is able to treat an underactuated system as a pseudo-active system in which passive joints are eliminated. Also, to realize a robust control method, a nonlinear feedback disturbance observer is applied to each active joint. A four-jointed underwater robotic system with one passive joint is considered as an illustrative example. Through simulation, it is shown that the proposed control algorithm has good position tracking performances even in the presence of several external disturbances and model uncertainties.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Disturbance observer-based robust control for underwater robotic systems with passive joints


    Beteiligte:
    Chung, G.B. (Autor:in) / Eom, K.S. (Autor:in) / Yi, B.J. (Autor:in) / Suh, I.H. (Autor:in) / Oh, S.R. (Autor:in) / Cho, Y.J. (Autor:in)


    Erscheinungsdatum :

    2000


    Format / Umfang :

    6 Seiten, 12 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Robust Sliding Mode Control for Flexible Joint Robotic Manipulator via Disturbance Observer

    Alam, Waqar / Ahmad, Sayyar / Mehmood, Adeel et al. | BASE | 2019

    Freier Zugriff

    Robust Motion Control by Disturbance Observer

    Ohnishi, K. | British Library Online Contents | 1996


    Decentralized Robust Disturbance-Observer based LFC of Interconnected Systems

    Vafamand, Navid / Arefi, Mohammad Mehdi / Asemani, Mohammad Hassan et al. | BASE | 2022

    Freier Zugriff

    Underwater snake robot with passive joints

    PÅL LILJEBACK | Europäisches Patentamt | 2022

    Freier Zugriff

    UNDERWATER SNAKE ROBOT WITH PASSIVE JOINTS

    LILJEBACK PÅL | Europäisches Patentamt | 2024

    Freier Zugriff