Precise control of underwater vehicle manipulator systems using iterative learning control

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Volumn , Issue , 2009, Pages 3089-3093

  Sakagami, Norimitsu ^a  

^a TOKAI UNIVERSITY   (Japan)

Author keywords

Iterative learning control; Underwater Vehicle Manipulator Systems (UVMSs)

Indexed keywords

ATTITUDE ERROR; CONTROL PERIODS; DEGREE OF FREEDOM; FEED-FORWARD COMPENSATION; ITERATIVE LEARNING CONTROL; MANIPULATOR MOTION; PRECISE CONTROL; STATIC MOMENT; UNDERWATER MANIPULATOR; UNDERWATER VEHICLE MANIPULATOR SYSTEMS; UNDERWATER VEHICLES;

DIES; ERROR COMPENSATION; LEARNING ALGORITHMS; SUBMERSIBLE MOTORS; SUBMERSIBLES; TWO TERM CONTROL SYSTEMS; UNDERWATER BALLISTICS; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; WATER CRAFT;

MANIPULATORS;

EID: 77951129922     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. McLain T, Rock S (1996) Experiments in the Hydrodynamic Modeling of an Underwater Manipulator. Symp. Autonomous Underwater Vehicle Technology, pp.463-469
2. Kortney N. Leaborne and Stephen M. Rock (1998) Model development of an underwater manipulator for coordinated arm-vehicle control. In Proceedings of the OCEANS 98 Conference, Nice, France, pp. 941-946.
3. Arimoto S (1996) Control Theory of Nonlinear Mechanical Systems: A Passivity-based and Circuit-theoretic Approach. Oxford University Press, Chapter 5, pp.157-183
4. Sakagami N, Inoue M, Kawamura S (2003) Theoretical and Experimental Studies on Iterative Learning Control for Underwater Robots. Int. Jour. of Offshore and Polar Engineering, vol.13, no.2, pp.120-127
5. Thor I. Fossen (1994) Guidance and Control of Ocean Vehicles. John Wiley & Sons Ltd, pp.93-97.
6. N. Sakagami and S. Kawamura (2002) Analysis on Dynamics of 3-DOF Underwater Robot Manipulators Based on Time-Scale Transformation. Proc. 2002 Japan-USA symposium on Flexible Automation, pp.1139-1145.