Non-regressor Based Adaptive Tracking Control of an Underwater Vehicle-mounted Manipulator

J. Ocean Eng. Technol. 2000;14(2):7-12.

수중 선체에 장착된 로봇팔 궤적의 비귀환형 적응제어

여준구

하와이대학교 기계공학과

Keywords: Underwater manipulator, unmanned underwater vehicle, Adaptive control, Disturbance, Non-regressor

핵심용어: 수중로봇팔, 무인잠수정, 적응제어, 외란, 비귀환기

Abstract

This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.