Adaptive Control of Nonlinear Underwater Robotic Systems
نویسندگان
چکیده
The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF) is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modelled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1) an adaptive passivity-based control scheme and (2) deriving a hybrid (adaptive and sliding) controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunov-like lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV).
منابع مشابه
Adaptive fuzzy pole placement for stabilization of non-linear systems
A new approach for pole placement of nonlinear systems using state feedback and fuzzy system is proposed. We use a new online fuzzy training method to identify and to obtain a fuzzy model for the unknown nonlinear system using only the system input and output. Then, we linearized this identified model at each sampling time to have an approximate linear time varying system. In order to stabilize...
متن کاملDesigning a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...
متن کاملCONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
متن کاملAn indirect adaptive neuro-fuzzy speed control of induction motors
This paper presents an indirect adaptive system based on neuro-fuzzy approximators for the speed control of induction motors. The uncertainty including parametric variations, the external load disturbance and unmodeled dynamics is estimated and compensated by designing neuro-fuzzy systems. The contribution of this paper is presenting a stability analysis for neuro-fuzzy speed control of inducti...
متن کاملModeling and control of underwater robotic vehicles
Remotely operated, underwater robotic vehicles have become the important tool to explore the secrete life undersea. They are used for various purposes: inspection, recovery, construction, etc. With the increased utilization of remotely operated vehicles in subsea applications, the development of autonomous vehicles becomes highly desirable to enhance operator efficiency. However, engineering pr...
متن کامل