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Application of non-regressor based adaptive control to an underwater mobile platform-mounted manipulator

Authors
Lee, Pan-MookYuh, J.
Issue Date
1999
Publisher
IEEE, Piscataway, NJ, United States
Citation
IEEE Conference on Control Applications - Proceedings, v.2, pp 1135 - 1140
Pages
6
Journal Title
IEEE Conference on Control Applications - Proceedings
Volume
2
Start Page
1135
End Page
1140
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9173
ISSN
0000-0000
Abstract
An underwater manipulator mounted on a mobile platform such as underwater vehicles is a multi-body dynamic system. The hydrodynamics of the manipulator mounted on the vehicle are poorly known and time-varying. Furthermore, its motion is disturbed by the vehicle motion. This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater mobile platform-mounted manipulators. The presented adaptive control system dose not require any information about the system. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices. To evaluate the performance of the adaptive controller, computer simulation was performed with a two-link planar manipulator mounted on a one degree-of-freedom mobile platform. The effects of hydrodynamic forces acting on the manipulator are included.
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