Abstract
A new control concept is proposed for an underwater vehicle-manipulator system (UVMS) where the desired target is defined as a region boundary rather than a point or a region. For a mapping of the uncertain persistent effects i.e.: the restoring forces, a least-squares estimation algorithm along with the inverse Jacobian matrix is utilized in the adaptive control law. The unit quaternion representation is used for the attitude representation. The stability analysis is carried out using a Lyapunov-like function. Simulation results are presented to assess the effectiveness of the proposed control scheme. ©2010 IEEE.
| Original language | English |
|---|---|
| Title of host publication | 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 |
| Pages | 317-323 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 11th International Conference on Control, Automation, Robotics and Vision - Singapore, Singapore Duration: 7 Dec 2010 → 10 Dec 2010 |
Conference
| Conference | 11th International Conference on Control, Automation, Robotics and Vision |
|---|---|
| Abbreviated title | ICARCV 2010 |
| Country | Singapore |
| City | Singapore |
| Period | 7/12/10 → 10/12/10 |
Keywords
- Adaptive control
- Region reaching control
- Set-point control
- Underwater vehicle-manipulator system
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Cite this
Ismail, Z. H., & Dunnigan, M. W. (2010). A sub-region boundary-based control scheme with a least-squares estimation algorithm for an underwater robotic system. In 11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 (pp. 317-323) https://doi.org/10.1109/ICARCV.2010.5707831