Control of underwater vehicle/manipulator with composite dynamics

Proceedings of the American Control Conference

Volumn 1, Issue , 1998, Pages 389-393

  De Wit, Carlos Canudas ^a   Díaz, Ernesto Olguín ^a   Perrier, Michel ^b  

^a CNRS   (France)

^b IFREMER   (France)

Author keywords

Nonlinear control; Singular perturbations theory; Underwater vehicles

Indexed keywords

ACTUATORS AND SENSORS; BANDWIDTH CHARACTERISTICS; CLOSED LOOP STABILITY; COMPUTED TORQUE CONTROL; NON LINEAR CONTROL; SINGULAR PERTURBATION THEORY; SINGULAR PERTURBATIONS; UNDERWATER VEHICLES;

ROBOT APPLICATIONS;

PERTURBATION TECHNIQUES;

EID: 84881324220     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.1998.694697     Document Type: Conference Paper

References (8)

1. Hassan K. Khalil. "Nonlinear Systems". Prentice Hall. 1996, 2nd edition. (ISBN 0132280248)
2. Thor I. Fossen. "Guidance and Control of Ocean Vehicles". John Wiley and Sons Ltd. 1994
3. E. Olguín Díaz, "Underwater Mobile Manipulator Modeling". Internal report No. 1-9LJ2/1-95-3-321285 LAG, October 1996
4. Timothy W. McLain, Stephen M. Rock, Michael J. Lee "Coordinated Control of an Underwater Robotic System". In Proceedings of the IEEE International Conference on Robotics and Automation (Video Submission) Minneapolis, Minnesota. 1996.
5. A. Healey, D. Lienard "Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles", In IEEE Journal of Oceanic Engineering OE-18, 1993.
6. M. Perrier, C. Canudas de Wit, "Experimental Comparison of PID versus PID plus Nonlinear Controller for Subsea Robots" Journal of Autonomous Robots, Special issue on Autonomous Underwater Robots, 1996
7. Williamson, D. and Canudas de Wit, C. "Performance-Oriented Robust Control for a Class of Nonlinear Systems" In Proceeding of the European Control Conference, Roma Italy 1995.
8. rd Conference on Marine Craft Maneuvering and Control (MCMC'94), Southampton, UK, 1994.