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

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dc.contributor.authorLee, Pan-Mook-
dc.contributor.authorYuh, J.-
dc.date.accessioned2023-12-22T09:31:08Z-
dc.date.available2023-12-22T09:31:08Z-
dc.date.issued1999-
dc.identifier.issn0000-0000-
dc.identifier.urihttps://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9173-
dc.description.abstractAn 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.-
dc.format.extent6-
dc.language영어-
dc.language.isoENG-
dc.publisherIEEE, Piscataway, NJ, United States-
dc.titleApplication of non-regressor based adaptive control to an underwater mobile platform-mounted manipulator-
dc.typeArticle-
dc.identifier.scopusid2-s2.0-0033345169-
dc.identifier.bibliographicCitationIEEE Conference on Control Applications - Proceedings, v.2, pp 1135 - 1140-
dc.citation.titleIEEE Conference on Control Applications - Proceedings-
dc.citation.volume2-
dc.citation.startPage1135-
dc.citation.endPage1140-
dc.type.docTypeConference Paper-
dc.description.isOpenAccessN-
dc.description.journalRegisteredClassscopus-
dc.subject.keywordPlusAdaptive control systems-
dc.subject.keywordPlusComputer simulation-
dc.subject.keywordPlusDegrees of freedom (mechanics)-
dc.subject.keywordPlusHydrodynamics-
dc.subject.keywordPlusMotion control-
dc.subject.keywordPlusPosition control-
dc.subject.keywordPlusUnderwater equipment-
dc.subject.keywordPlusMobile platforms-
dc.subject.keywordPlusMultibody dynamic systems-
dc.subject.keywordPlusUnderwater manipulators-
dc.subject.keywordPlusManipulators-
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