Universiti Teknologi Malaysia Institutional Repository

Adaptive robust tracking control of an underwater vehicle-manipulator system with sub-region and self-motion criteria

Ismail, Zool Hilmi and Dunnigan, Mathew Walter (2012) Adaptive robust tracking control of an underwater vehicle-manipulator system with sub-region and self-motion criteria. Control And Intelligent Systems, 40 (1). pp. 57-67. ISSN 1480-1752

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Abstract

This paper proposes an adaptive robust control scheme for an Underwater-Vehicle Manipulator System (UVMS). The proposed controller enables the tracking of the intersection of multiple local sub-regions that are assigned for each subsystem of a UVMS under the influence of modelling uncertainties as well as additive disturbances. The presence of variable ocean currents creates hydrodynamic forces and moments that are not well-known or predictable, even though they are bounded. Therefore, the control task of tracking a prescribed sub-region trajectory is challenging due to these additive bounded disturbances. In the presented adaptive control law, a least-squares estimation algorithm is utilized rather than gradient-type approach. The use of the self-motion due to the kinematically redundant system allows performance of multiple subtasks (e.g., maintaining manipulability and avoidance of mechanical joint limits). The asymptotically sub-region and sub-task tracking are ensured using the proposed control law despite the parametric uncertainty of the UVMS and external additive disturbances. The stability analysis is carried out using the Lyapunov-type approach. The simulation results illustrate the validity of the proposed control scheme.

Item Type:Article
Uncontrolled Keywords:Intelligent systems
Subjects:Q Science > QA Mathematics > QA76 Computer software
Divisions:Electrical Engineering
ID Code:46560
Deposited By: Haliza Zainal
Deposited On:22 Jun 2015 05:56
Last Modified:13 Sep 2017 08:48

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