A nonlinear disturbance observer using delayed estimates - its application to motion control of an underwater vehicle-manipulator system.
Noboru SugiyamaMasayoshi TodaPublished in: IROS (2016)
Keyphrases
- motion control
- underwater vehicles
- control system
- mobile robot
- physical constraints
- autonomous robots
- robot control
- path planning
- autonomous navigation
- trajectory tracking
- closed loop
- kinematic model
- computer simulation
- degrees of freedom
- control algorithm
- vision system
- control law
- visual servoing
- mathematical models
- real time
- real robot
- motion planning
- robot manipulators
- control strategy
- radial basis function
- dynamic environments
- neural network