Digital Type Disturbance Compensation Control of Underwater Vehicle-Manipulator Systems

We have proposed continuous and discrete time Resolved Acceleration Control (RAC) methods for underwater vehicle-manipulator systems and the effectiveness of the control methods have been demonstrated by experiments. In this paper, we propose a digital type disturbance compensation control method based on the RAC method. Experimental results show the effectiveness of the proposed method.

[1]  Timothy W. McLain,et al.  Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model , 1998, Int. J. Robotics Res..

[2]  Timothy W. McLain,et al.  Experiments in the coordinated control of an underwater arm/vehicle system , 1996, Auton. Robots.

[3]  Marc J. Richard,et al.  Dynamic Analysis of a Manipulator in a Fluid Environment , 1994, Int. J. Robotics Res..

[4]  Gianluca Antonelli,et al.  Task-priority redundancy resolution for underwater vehicle-manipulator systems , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[5]  Shinichi Sagara,et al.  Digital RAC for underwater vehicle-manipulator systems considering singular configuration , 2005, Artificial Life and Robotics.

[6]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[7]  Nilanjan Sarkar,et al.  Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization , 2001 .

[8]  Masakazu Tamura,et al.  Digital Control of an Underwater Robot with Vertical Planar 2-Link Manipulator , 2004 .

[9]  Kazuya Yoshida,et al.  Control of Space Manipulators with Generalized Jacobian Matrix , 1993 .

[10]  S. Sagara,et al.  Resolved Acceleration Control of Underwater Vehicle-Manipulator Systems using Momentum Equation , 2007, OCEANS 2007.

[11]  Kouhei Ohnishi,et al.  Design guidelines for disturbance observer's filter in discrete time , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[12]  R. Lakshmi,et al.  A coordinated control of an underwater vehicle and robotic manipulator , 1991, J. Field Robotics.

[13]  S. Chiaverini,et al.  Tracking control for underwater vehicle-manipulator systems with velocity estimation , 2000, IEEE Journal of Oceanic Engineering.

[14]  Tzyh Jong Tarn,et al.  A dynamic model of an underwater vehicle with a robotic manipulator using Kane's method , 1996, Auton. Robots.