Application of non-regressor based adaptive control to an underwater mobile platform-mounted manipulator
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Pan-Mook | - |
dc.contributor.author | Yuh, J. | - |
dc.date.accessioned | 2023-12-22T09:31:08Z | - |
dc.date.available | 2023-12-22T09:31:08Z | - |
dc.date.issued | 1999 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/9173 | - |
dc.description.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. | - |
dc.format.extent | 6 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | IEEE, Piscataway, NJ, United States | - |
dc.title | Application of non-regressor based adaptive control to an underwater mobile platform-mounted manipulator | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-0033345169 | - |
dc.identifier.bibliographicCitation | IEEE Conference on Control Applications - Proceedings, v.2, pp 1135 - 1140 | - |
dc.citation.title | IEEE Conference on Control Applications - Proceedings | - |
dc.citation.volume | 2 | - |
dc.citation.startPage | 1135 | - |
dc.citation.endPage | 1140 | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Adaptive control systems | - |
dc.subject.keywordPlus | Computer simulation | - |
dc.subject.keywordPlus | Degrees of freedom (mechanics) | - |
dc.subject.keywordPlus | Hydrodynamics | - |
dc.subject.keywordPlus | Motion control | - |
dc.subject.keywordPlus | Position control | - |
dc.subject.keywordPlus | Underwater equipment | - |
dc.subject.keywordPlus | Mobile platforms | - |
dc.subject.keywordPlus | Multibody dynamic systems | - |
dc.subject.keywordPlus | Underwater manipulators | - |
dc.subject.keywordPlus | Manipulators | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(34103) 대전광역시 유성구 유성대로1312번길 32042-866-3114
COPYRIGHT 2021 BY KOREA RESEARCH INSTITUTE OF SHIPS & OCEAN ENGINEERING. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.