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Robust controller with a fixed compensator for underwater vehicle-manipulator systems including thruster dynamics

Robust controller with a fixed compensator for underwater vehicle-manipulator systems including... This paper deals with a control scheme for underwater vehicle-manipulator systems with the dynamics of thrusters in the presence of uncertainties in its system parameters and bounded disturbances. The authors have developed a robust controller that overcomes thruster nonlinearities, which cause an uncontrollable system. However, the controller has disadvantages in its performances (e.g., steady-state errors). In this paper we develop a robust controller with a fixed compensator including an integral action. The objective of the compensator is to improve the performances of the controller. The ultimate boundedness of a tracking error is theoretically ensured in the control system. Furthermore, simulation results support the theoretical one. Keywords: underwater vehicle-manipulator system; UVMS; underwater robot; robust control; thruster dynamics; marine thruster; fixed compensator. Reference to this paper should be made as follows: Taira, Y., Sagara, S. and Oya, M. (2015) ` including thruster dynamics', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 6, pp.258­268. Biographical notes: Yuichiro Taira is an Associate Professor at Department of Mechanical Engineering, Sojo University, Japan. He received his PhD from Kyushu Institute of Technology, Japan in 2002. His current research interests include application of adaptive or robust control to robots. Shinichi Sagara is an Associate Professor http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Robust controller with a fixed compensator for underwater vehicle-manipulator systems including thruster dynamics

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Publisher
Inderscience Publishers
Copyright
Copyright © 2015 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2015.074786
Publisher site
See Article on Publisher Site

Abstract

This paper deals with a control scheme for underwater vehicle-manipulator systems with the dynamics of thrusters in the presence of uncertainties in its system parameters and bounded disturbances. The authors have developed a robust controller that overcomes thruster nonlinearities, which cause an uncontrollable system. However, the controller has disadvantages in its performances (e.g., steady-state errors). In this paper we develop a robust controller with a fixed compensator including an integral action. The objective of the compensator is to improve the performances of the controller. The ultimate boundedness of a tracking error is theoretically ensured in the control system. Furthermore, simulation results support the theoretical one. Keywords: underwater vehicle-manipulator system; UVMS; underwater robot; robust control; thruster dynamics; marine thruster; fixed compensator. Reference to this paper should be made as follows: Taira, Y., Sagara, S. and Oya, M. (2015) ` including thruster dynamics', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 6, pp.258­268. Biographical notes: Yuichiro Taira is an Associate Professor at Department of Mechanical Engineering, Sojo University, Japan. He received his PhD from Kyushu Institute of Technology, Japan in 2002. His current research interests include application of adaptive or robust control to robots. Shinichi Sagara is an Associate Professor

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2015

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