Reduction of the dynamic coupling between a manipulator and ROV using variable structure control

M. W. Dunnigan, G. T. Russell

Research output: Contribution to journalArticle

Abstract

Demonstrated in this paper is the effect of dynamic coupling between a manipulator and ROV. It aims to remove the need for a mechanical attachment arm by providing the ROV with a hover control system that takes account of the dynamic interactions caused by manipulator motion. Results show the dynamic interaction present when the ROV's state vector is not controlled.

Original languageEnglish
Pages (from-to)1578-1583
Number of pages6
JournalIEE Conference Publication
Volume2
Issue number389
Publication statusPublished - 1994
EventProceedings of the International Conference on CONTROL '94. Part 2 (of 2) - Coventry, UK
Duration: 21 Mar 199424 Mar 1994

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