Digital RAC with a disturbance observer for underwater vehicle-manipulator systems |
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Authors: | Shinichi Sagara Takashi Yatoh Tomoaki Shimozawa |
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Affiliation: | 1. Department of Control Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu, 804-8550, Japan
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Abstract: | Most control methods of underwater vehiclemanipulator systems (UVMS) are based on the computed torque method that is used for underwater robotic vehicles. We have proposed a resolved acceleration control (RAC) method for UVMS. In this article, we propose a disturbance compensation control method for both vehicle and manipulator based on the RAC method. Experimental results using an underwater robot with a vertical planar 2-link manipulator show that the proposed control method has good control performance. |
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