Robust Nonlinear Control of an Underwater Vehicle/Manipulator System with Composite Dynamics.
Carlos Canudas de WitErnesto Olguín DíazMichel PerrierPublished in: ICRA (1998)
Keyphrases
- underwater vehicles
- highly nonlinear
- fault identification
- control system
- control method
- nonlinear dynamics
- continuous stirred tank reactor
- computer simulation
- computer controlled
- robotic manipulator
- robot manipulators
- dynamical systems
- master slave
- robotic arm
- control strategy
- hand eye
- degrees of freedom
- variable structure
- force control
- predictive control
- adaptive control
- control algorithm
- inverse kinematics
- stability analysis
- fuzzy logic controller