Control of underwater vehicle/manipulator with composite dynamics

被引：0
|
作者：
de Witt, CC [1 ]
Diaz, EO [1 ]
Perrier, M [1 ]
机构：
[1] INPG, ENSIEG, UMR CNRS 5528, Lab Automat Grenoble, F-38402 Grenoble, France
来源：
PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 1998年
关键词：
underwater vehicles; singular perturbations theory; nonlinear control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is devoted to the problem of control design of an underwater vehicle/manipulator (UVM) system composed of a free navigating platform equipped with a robot manipulator. This composite system is driven by actuators and sensors of different nature having substantially different bandwidth characteristics. Such a difference allows for a setup which can naturally treated by standard singular perturbation theory. The mayor finding here is that the computed torque control law can be substantially simplified while preserving the closed-loop stability, in the sense of perturbation theory.
引用
收藏
页码：389 / 393
页数：5
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