Journal
ADVANCED ROBOTICS
Volume 28, Issue 16, Pages 1109-1119Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2014.913504
Keywords
task space-based control; underwater vehicle-manipulator system; dynamic positioning; feedback linearizing control; indirect adaptive control
Categories
Funding
- Korea-India Science Across Virtual Institute (SAVI) Program
- Human Resources Development program of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) - Korea government Ministry of Trade, Industry and Energy
Ask authors/readers for more resources
For an underwater vehicle-manipulator system, which consists of an underwater vehicle equipped with a manipulator, it is important to regulate the position of the manipulator's end-effector with respect to a given target position in many interactive operations. This paper presents a task space-based approach for designing a controller that ensures that the end-effector of an underwater vehicle-manipulator system maintains its position in the presence of unknown ocean currents and uncertainties without the explicit use of a disturbance observer. A feedback linearizing control in task coordinates is used, and an extended Kalman filter (EKF) is employed as a state observer. The proposed approach can also be applied to dynamic positioning or controlled weathervaning of a surface ship whose motion is affected by environmental disturbances. To demonstrate the validity and effectiveness of the proposed approach, numerical simulations and experimental tests were carried out and their results are shown.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available