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Robust Control for Underwater Robot Manipulators with a Time-Varying Feedback Gain

Journal of National Fisheries University Volume 58 Issue 3 Page 199-205
published_at 2010-03
58-3-199-205.pdf
[fulltext] 656 KB
Title
時変フィードバックゲインを用いた水中ロボットマニピュレータのロバスト制御
Robust Control for Underwater Robot Manipulators with a Time-Varying Feedback Gain
Creators Taira Yuichiro
Source Identifiers [PISSN] 0370-9361
Creator Keywords
Fishery engineering Underwater robot Manipulator Robust control Time-varying feedback gain
In this report, a robust controller for underwater robots equipped with a manipulator (underwater robot manipulators) is developed to overcome uncertainties in robot dynamics and hydrodynamic forces. The proposed controller has the following features : (1) the structure of the controller is very simple in comparison with that of an adaptive controller using a regressor of a robot dynamic equation; (2) the controller is developed without using a function specific to sliding mode type robust control, such as a signum function and a saturation function, which often leads to oscillations in control inputs; and (3) the maximum value of a tracking error norm can be arbitrarily reduced by setting controller design parameters. Furthermore, numerical simulations whose model is a 2 link planar underwater robot manipulator are performed. The simulation results demonstrate the validity of the theoretical results (the controller features).
Languages jpn
Resource Type departmental bulletin paper
Publishers National Fisheries University
Date Issued 2010-03
File Version Version of Record
Access Rights open access
Relations
[ISSN]0370-9361