Robust and adaptive tracking control of a rigid link in a cross flow

Author

Baicu, Catalin F. ; Rahn, Christopher D. ; Dawson, Darren M.

Author_Institution

Dept. of Mech. Eng., Clemson Univ., SC, USA

Volume

5

fYear

1995

fDate

21-23 Jun 1995

Firstpage

2985

Abstract

A theoretical model for a rigid link with drag loading is developed. A robust controller is designed to accurately track a desired angle trajectory, despite an unknown but bounded cross flow velocity. For the case where the cross flow velocity and link length are known, an adaptive controller is designed to provide asymptotic tracking. An approximate linear parameterization is used for the drag loading. Numerical simulations demonstrate the effectiveness of the proposed controllers for two desired trajectories

Keywords

adaptive control; asymptotic stability; manipulator dynamics; marine systems; nonlinear control systems; robust control; state feedback; tracking; two-term control; PI controller; adaptive tracking control; approximate linear parameterization; asymptotic stability; autonomous underwater vehicle; drag loading; hydrodynamic cross flow; robust control; state feedback; trajectory tracking; underwater manipulator dynamics; Adaptive control; Manipulator dynamics; Oceans; Programmable control; Remotely operated vehicles; Robot kinematics; Robust control; Torque control; Underwater vehicles; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.532060

Filename

532060