Title: Robust nonlinear control of an underwater vehicle/manipulator system with composite dynamics
Abstract:The paper is devoted to the problem of nonlinear robust control design for underwater vehicle/manipulator (UVM) systems composed of a freefloating platform equipped with a robot manipulator. The diffe...The paper is devoted to the problem of nonlinear robust control design for underwater vehicle/manipulator (UVM) systems composed of a freefloating platform equipped with a robot manipulator. The different bandwidth characteristics of the composite vehicle/arm dynamics are used as a basis 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 base. The paper also presents a comparative study between simple PD, a partial linearized control and the nonlinear robust feedback.Read More
Publication Year: 2002
Publication Date: 2002-11-27
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 46
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