JORDAN Mario Alberto
congresos y reuniones científicas
A Direct Adaptive Control System for Mass-Varying Underwater Vehicles with Manipulator
JORDAN, MARIO ALBERTO; BUSTAMANTE, JORGE
Conferencia; Jornadas Argentinas de Robótica; 2006
In this work, the design of an adaptive control algorithm for a general class of underwater vehicles with manipulator in the context of a path-following problem is presented. The algorithm is based on speed-gradient techniques and state/disturbance observer. A stepwise changing mass is assumed during the operations of the vehicle manipulator. The influence of the unknown mass on the control performance is indirectly captured by means of adaptive tracking control. A case study illustrates the features of our approach by means of numerical simulations.