An underwater manipulator mounted on a mobile platform such as underwater vehicles is a multi-body dynamic system. The hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion. This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater mobile platform-mounted manipulators. The presented adaptive control system does not require any information about the system. The adaptive control law estimates the control gains defined by the combinations of the bounded constants of system parameter matrices. To evaluate the performance of the adaptive controller, computer simulation was performed with a two-link planar manipulator mounted on a one degree-of-freedom mobile platform. The effects of hydrodynamic forces acting on the manipulator are included.
Application of non-regressor based adaptive control to an underwater mobile platform-mounted manipulator
IEEE International Conference on Control Applications, 1999 ; 2 ; 1135-1140
1999
6 Seiten, 15 Quellen
Conference paper
English
A regressor-free robust adaptive controller for autonomous underwater vehicles
SAGE Publications | 2017
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