Adaptive control of underwater vehicle-manipulator systems subject to joint limits

Nilanjan Sarkar; Junku Yuh; Tarun K. Podder

Adaptive control of underwater vehicle-manipulator systems subject to joint limits

Nilanjan Sarkar
, Junku Yuh
, Tarun K. Podder

Radiation Oncology

Upstate Medical University

University of Hawai'i at Mānoa

Research output: Contribution to conference › Paper › peer-review

34 Scopus citations

Abstract

The control of underwater vehicle-manipulator system (UVMS) is a challenging task because the dynamics of such a system is highly nonlinear, coupled, time-varying, and subject to hydrodynamic uncertainties and external disturbances. This paper presents a non-regressor based adaptive control for UVMS where centralized and coordinated trajectory planning is followed by decentralized control - one for the slower subsystem (vehicle) and other for the faster subsystem (manipulator). To avoid joint limits, kinematic redundancy of the system is resolved using weighted pseudoinverse of the Jacobian matrix. The results from computer simulations demonstrate the effectiveness of this proposed method.

Original language	English
Pages	142-147
Number of pages	6
State	Published - 1999
Event	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: Oct 17 1999 → Oct 21 1999

Conference

Conference	1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
City	Kyongju, South Korea
Period	10/17/99 → 10/21/99

Cite this

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title = "Adaptive control of underwater vehicle-manipulator systems subject to joint limits",

abstract = "The control of underwater vehicle-manipulator system (UVMS) is a challenging task because the dynamics of such a system is highly nonlinear, coupled, time-varying, and subject to hydrodynamic uncertainties and external disturbances. This paper presents a non-regressor based adaptive control for UVMS where centralized and coordinated trajectory planning is followed by decentralized control - one for the slower subsystem (vehicle) and other for the faster subsystem (manipulator). To avoid joint limits, kinematic redundancy of the system is resolved using weighted pseudoinverse of the Jacobian matrix. The results from computer simulations demonstrate the effectiveness of this proposed method.",

author = "Nilanjan Sarkar and Junku Yuh and Podder, \{Tarun K.\}",

year = "1999",

language = "English",

pages = "142--147",

note = "1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' ; Conference date: 17-10-1999 Through 21-10-1999",

}

Adaptive control of underwater vehicle-manipulator systems subject to joint limits. / Sarkar, Nilanjan; Yuh, Junku; Podder, Tarun K.
1999. 142-147 Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Adaptive control of underwater vehicle-manipulator systems subject to joint limits

AU - Sarkar, Nilanjan

AU - Yuh, Junku

AU - Podder, Tarun K.

PY - 1999

Y1 - 1999

N2 - The control of underwater vehicle-manipulator system (UVMS) is a challenging task because the dynamics of such a system is highly nonlinear, coupled, time-varying, and subject to hydrodynamic uncertainties and external disturbances. This paper presents a non-regressor based adaptive control for UVMS where centralized and coordinated trajectory planning is followed by decentralized control - one for the slower subsystem (vehicle) and other for the faster subsystem (manipulator). To avoid joint limits, kinematic redundancy of the system is resolved using weighted pseudoinverse of the Jacobian matrix. The results from computer simulations demonstrate the effectiveness of this proposed method.

AB - The control of underwater vehicle-manipulator system (UVMS) is a challenging task because the dynamics of such a system is highly nonlinear, coupled, time-varying, and subject to hydrodynamic uncertainties and external disturbances. This paper presents a non-regressor based adaptive control for UVMS where centralized and coordinated trajectory planning is followed by decentralized control - one for the slower subsystem (vehicle) and other for the faster subsystem (manipulator). To avoid joint limits, kinematic redundancy of the system is resolved using weighted pseudoinverse of the Jacobian matrix. The results from computer simulations demonstrate the effectiveness of this proposed method.

UR - https://www.scopus.com/pages/publications/0033346692

M3 - Paper

SP - 142

EP - 147

T2 - 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'

Y2 - 17 October 1999 through 21 October 1999

ER -

Adaptive control of underwater vehicle-manipulator systems subject to joint limits

Abstract

Conference

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