Title :
An adaptive controller for underwater vehicle-manipulator systems including thruster dynamics
Author :
Taira, Yuichiro ; Oya, Masahiro ; Sagara, Shinichi
Author_Institution :
Dept. of Ocean Mech. Eng., Nat. Fisheries Univ., Shimonoseki, Japan
Abstract :
In this paper we develop a controller for underwater vehicle-manipulator systems. The main feature is to take into account the dynamics of thrusters in the design of the controller. In order to struggle with the nonlinearities of thrusters, we propose a new error representation for thrusters, and then we develop the robust adaptive tracking controller.
Keywords :
adaptive control; control nonlinearities; control system synthesis; manipulator dynamics; position control; robust control; underwater vehicles; robust adaptive tracking controller; thruster dynamics; thruster nonlinearities; underwater vehicle-manipulator system; Jacobian matrices; Manipulators;
Conference_Titel :
Modelling, Identification and Control (ICMIC), The 2010 International Conference on
Conference_Location :
Okayama
Print_ISBN :
978-1-4244-8381-5
Electronic_ISBN :
978-0-9555293-3-7
