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이판묵(PAN-MOOK LEE),여준구(JUNKU YUH) 한국해양공학회 2000 韓國海洋工學會誌 Vol.14 No.2
This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems (UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme is the upper bound and lower bound of the system parameter matrices, the upper bound of unmodeled effects, the number of joints, the position and attitude of the vehicle, and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller, computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.