개인구독
소속 기관이 없으신 경우, 개인 정기구독을 하시면 저렴하게
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지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 641 - 648 (8page)
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초록· 키워드
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This paper presents the detailed modelling and simulation of the dynamic coupling in an autonomous underwater vehicle (AUV)-manipulator system, used for deep-sea intervention tasks. The interaction effects due to damping, restoring and inertial effects of a single degree of freedom (DOF) manipulator mounted on an underactuated AUV are analysed. The actuator and sensor dynamics of the system are also considered. The linear and angular position errors of the vehicle and the manipulator due to the interaction effects between them are also investigated and the results are presented. A model reference adaptive control (MRAC) scheme is proposed to compensate the above mentioned errors. The effectiveness of the proposed control scheme is demonstrated using numerical simulations along with comparative study between conventional proportional-integral-derivative (PID) control. The robustness of the proposed control scheme is also illustrated with numerical study in the presence of external disturbances and parameter uncertainties.
목차
Abstract
1. INTRODUCTION
2. DYNAMIC MODELLING
3. INVESTIGATIONS ON COUPLED DYNAMICS
4. MODEL RFERENCE ADAPTIVECONTROLLER (MRAC) DESIGN
5. CONCLUSIONS AND FUTURE WORK
ACKNOWLEDGEMENTS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000913261