Title :
Digital Type Disturbance Compensation Control of Underwater Vehicle-Manipulator Systems
Author :
Yatoh, Takashi ; Sagara, Shinichi
Author_Institution :
Dept. of Control Eng., Kyushu Inst. of Technol., Kitakyushu
Abstract :
We have proposed continuous and discrete time Resolved Acceleration Control (RAC) methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been demonstrated by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method. Experimental results show the effectiveness of the proposed method.
Keywords :
manipulators; oceanographic techniques; underwater vehicles; RAC methods; digital type disturbance compensation control method; discrete time Resolved Acceleration Control methods; underwater vehicle-manipulator systems; Acceleration; Angular velocity; Control systems; Equations; Feedback; Hydrodynamics; Manipulators; Robot kinematics; Vectors; Vehicles;
Conference_Titel :
OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2125-1
Electronic_ISBN :
978-1-4244-2126-8
DOI :
10.1109/OCEANSKOBE.2008.4530919
