Paper Info
Title
Digital RAC with a disturbance observer for underwater vehicle-manipulator systems
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.
Year
DOI
Venue
2010
10.1007/s10015-010-0806-7
Artificial Life and Robotics
Keywords
DocType
Volume
disturbance observer,underwater robot · manipulator · digital control · disturbance observer,underwater vehiclemanipulator system,rac method,acceleration control,proposed control method,underwater vehicle-manipulator system,underwater robot,disturbance compensation control method,good control performance,digital rac,computed torque method,control method,underwater robotic vehicle,digital control,manipulator
Journal
15
Issue
ISSN
Citations 
3
1614-7456
3
PageRank 
References 
Authors
0.53
4
3
Name
Order
Citations
PageRank
Shinichi Sagara13010.93
Takashi Yatoh2161.91
Tomoaki Shimozawa350.99