Nonlinear control of an underwater vehicle/manipulator with composite dynamics.
Carlos Canudas de WitErnesto Olguín DíazMichel PerrierPublished in: IEEE Trans. Control. Syst. Technol. (2000)
Keyphrases
- underwater vehicles
- highly nonlinear
- fault identification
- control system
- control method
- nonlinear dynamics
- external disturbances
- computer simulation
- robot manipulators
- path planning
- continuous stirred tank reactor
- sliding mode control
- robotic manipulator
- air fuel ratio
- tracking control
- lyapunov function
- mathematical models
- master slave
- tracking error
- dynamical systems
- dynamic model
- mathematical model
- real time
- adaptive fuzzy
- force control
- inverse kinematics
- parallel manipulator
- adaptive control
- mobile robot
- optimal control