Disturbance Observer-Based Robust Control of Remotely Operated Underwater Vehicle Having Passive Arm
- Title
- Disturbance Observer-Based Robust Control of Remotely Operated Underwater Vehicle Having Passive Arm
- Author
- 이병주
- Keywords
- Underwater robotic systems; passive joints; robust control; disturbance observer.
- Issue Date
- 2000-06
- Publisher
- Official Journal of the Robotics Society of Japan
- Citation
- Advanced Robotics 2001, v. 15, no. 5, page. 575-588
- Abstract
- Underwater exploration requires mobility and manipulation. Underwater robotic vehicles
(URV) have been employed for mobility, and robot manipulators attached to the underwater vehicle
(i.e. rover) perform the manipulation. Usually, the manipulation mode takes place when the rover is
stationary. The URV is then modeled as a passive joint and joints of the manipulator are modeled as active joints. URV motions are determined by inherent dynamic couplings between active and passive
joints. Furthermore, the control problem becomes complex since there are many hydrodynamic terms as well as intrinsicmodel uncertaintiesto be considered. To cope with these dif culties, we propose a disturbance observer-based robust control algorithm for underwater manipulators with passive joints.
The proposed control algorithm is able to treat an underactuated system as a pseudo-active system in
which passive joints are eliminated. Also, to realize a robust control method, a non-linear feedback
disturbance observer is applied to each active joint. A four-jointed underwater robotic system with
one passive joint is considered as an illustrative example. Through simulation, it is shown that the
proposed control algorithm has good position tracking performance even in the presence of several
external disturbances and model uncertainties.
- URI
- https://www.tandfonline.com/doi/abs/10.1163/156855301317033577https://repository.hanyang.ac.kr/handle/20.500.11754/161654
- ISSN
- 0169-1864; 1568-5535
- DOI
- 10.1163/156855301317033577
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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