Coordinated motion control in task space of an autonomous underwater vehicle-manipulator system

Cited 50 time in webofscience Cited 54 time in scopus
  • Hit : 409
  • Download : 0
DC FieldValueLanguage
dc.contributor.authorMohan, Santhakumarko
dc.contributor.authorKim, Jinwhanko
dc.date.accessioned2016-04-15T03:08:03Z-
dc.date.available2016-04-15T03:08:03Z-
dc.date.created2015-09-01-
dc.date.created2015-09-01-
dc.date.issued2015-08-
dc.identifier.citationOCEAN ENGINEERING, v.104, pp.155 - 167-
dc.identifier.issn0029-8018-
dc.identifier.urihttp://hdl.handle.net/10203/203990-
dc.description.abstractThis paper presents a coordinated motion control scheme using a disturbance observer in task space for an autonomous underwater vehicle-manipulator system (UVMS). Since, the UVMS is kinematically redundant in nature, the proposed controller permits self-motion which can be utilized to perform power efficient trajectory tracking and at the same time it also assures that the system is able to track the given desired spatial trajectory with minimal errors (despite the presence of external disturbances, system uncertainties and internal noises). The performance of the proposed coordinated motion control of the UVMS is demonstrated numerically by simulating a few underwater tasks such as payload conveyance. The system's disturbance compensation capabilities are shown and the effects of external disturbances and parameter uncertainties on the station keeping performance are also analyzed. A comparative analysis on power consumption is presented to prove the effectiveness of the proposed scheme.-
dc.languageEnglish-
dc.publisherPERGAMON-ELSEVIER SCIENCE LTD-
dc.subjectTRACKING CONTROL-
dc.subjectOCEAN CURRENTS-
dc.subjectTRAJECTORY TRACKING-
dc.subjectAUVS-
dc.titleCoordinated motion control in task space of an autonomous underwater vehicle-manipulator system-
dc.typeArticle-
dc.identifier.wosid000359165100013-
dc.identifier.scopusid2-s2.0-84930937307-
dc.type.rimsART-
dc.citation.volume104-
dc.citation.beginningpage155-
dc.citation.endingpage167-
dc.citation.publicationnameOCEAN ENGINEERING-
dc.identifier.doi10.1016/j.oceaneng.2015.05.011-
dc.contributor.localauthorKim, Jinwhan-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorAutonomous underwater vehicle-manipulator system-
dc.subject.keywordAuthorCoordinated motion control-
dc.subject.keywordAuthorVehicle-manipulator interactions-
dc.subject.keywordAuthorDisturbance observer-
dc.subject.keywordAuthorTask space controller-
dc.subject.keywordPlusTRACKING CONTROL-
dc.subject.keywordPlusOCEAN CURRENTS-
dc.subject.keywordPlusTRAJECTORY TRACKING-
dc.subject.keywordPlusAUVS-
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 50 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0