Paper Info
Title
Adaptive Robust Tracking Control Of An Underwater Vehicle-Manipulator System With Sub-Region And Self-Motion Criteria
Abstract
This paper proposes an adaptive robust control scheme for an Underwater-Vehicle Manipulator System (UVMS). The proposed controller enables the tracking of the intersection of multiple local sub-regions that are assigned for each subsystem of a UVMS under the influence of modelling uncertainties as well as additive disturbances. The presence of variable ocean currents creates hydrodynamic forces and moments that are not well-known or predictable, even though they are bounded. Therefore, the control task of tracking a prescribed sub-region trajectory is challenging due to these additive bounded disturbances. In the presented adaptive control law, a least-squares estimation algorithm is utilized rather than gradient-type approach. The use of the self-motion due to the kinematically redundant system allows performance of multiple sub-tasks (e.g., maintaining manipulability and avoidance of mechanical joint limits). The asymptotically sub-region and sub-task tracking are ensured using the proposed control law despite the parametric uncertainty of the UVMS and external additive disturbances. The stability analysis is carried out using the Lyapunov-type approach. The simulation results illustrate the validity of the proposed control scheme.
Year
DOI
Venue
2012
10.2316/Journal.201.2012.1.201-2331
CONTROL AND INTELLIGENT SYSTEMS
Keywords
Field
DocType
Adaptive robust control, sub-region and sub-task tracking control, least-squares estimation, underwater vehicle-manipulator system
Least squares,Control theory,Control theory,Control engineering,Parametric statistics,Mechanical joint,Adaptive control,Robust control,Trajectory,Mathematics,Bounded function
Journal
Volume
Issue
ISSN
40
1
1480-1752
Citations 
PageRank 
References 
0
0.34
11
Authors
2
Name
Order
Citations
PageRank
Zool H. Ismail193.79
M.W. Dunnigan2238.70