Robust Nonlinear Control of an Underwater Vehicle/Manipulator System with Composite Dynamics

This paper is devoted to the problem of nonlinear robust control design for Underwater Vehicle/Manipulator (UVM) systems composed of a freefloating platform equipped with a robot manipulator. The diflerent bandwidth characteristics of the composite vehicle/arm dynamics are used as a basis for the control design via singular perturbation theory. The main contribution of this paper is that a robust nonlinear control as only required in the slow-subsystem (vehicle dynamics). Thus, This control is only used to compensate the coupling effects from the arm to the basis. The paper also presents a comparative study between simple PD, a partial linearized control and the nonlinear robust feedback. eywords: Underwater vehicles, robust control, singular perturbation theory.

• Type: Conference
• Year: 1998
• Where: ICRA
• Authors: Carlos Canudas de Wit, Ernesto Olguín Díaz, Michel Perrier
• Keywords: ICRA 1998, Nonlinear Robust Control, Robotics, Robust Control, Singular Perturbation Theory