Title :
A comparative study of neglected dynamics on an underwater vehicle/manipulator system under nonlinear robust control
Author :
Diaz, Ernesto Olguin ; De Wit, Carlos Canudas ; Perrier, Michel
Author_Institution :
Lab. d´´Autom. de Grenoble, ENSIEG-INPG, Grenoble, France
fDate :
28 Sep-1 Oct 1998
Abstract :
This paper is dedicated to the comparative study of different behaviors of an underwater vehicle/manipulator system when some of the neglected control approach dynamics are included in the model, such as sampling time implementation and the thruster nonlinearities. A robust nonlinear control based on simple-dynamic model is used. The neglected dynamics limit the nonlinear gain of the robust control and demand compensation of the input control signal
Keywords :
compensation; manipulator dynamics; nonlinear control systems; robust control; singularly perturbed systems; underwater vehicles; compensation; dynamics; nonlinear control systems; nonlinear gain; robust control; sampling time; singular perturbation; underwater manipulator system; underwater vehicle; Control systems; Hydrodynamics; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Remotely operated vehicles; Robust control; Symmetric matrices; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
OCEANS '98 Conference Proceedings
Conference_Location :
Nice
Print_ISBN :
0-7803-5045-6
DOI :
10.1109/OCEANS.1998.724375
