A Frequency-Limited Adaptive Controller for Underwater Vehicle-Manipulator Systems under Large Wave Disturbances

Lu, W; Liu, D

A Frequency-Limited Adaptive Controller for Underwater Vehicle-Manipulator Systems under Large Wave Disturbances

Lu, W Liu, D

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2019, 2018-July pp. 246 - 251
Issue Date:: 2019-01-30

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Field	Value	Language
dc.contributor.author	Lu, W	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.available	2020-05-25T19:13:48Z
dc.date.issued	2019-01-30	en_US
dc.identifier.citation	Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2019, 2018-July pp. 246 - 251	en_US
dc.identifier.isbn	9781538673454	en_US
dc.identifier.uri	http://hdl.handle.net/10453/131472
dc.description.abstract	© 2018 IEEE. Standard adaptive control approaches may not be able to sufficiently stabilize underwater vehicle-manipulator systems (UVMSs) when wave disturbances are large, leading to high-frequency oscillations of large amplitude in its dynamic model parameters. Such parameters bring about undesired oscillations in the vehicle body control and state. This paper extends a frequency-limited adaptive control approach to the vehicle body. An auxiliary model is obtained from the approximated model through a low-pass filter and is used to reduce the problematic oscillations. The resultant stable vehicle body is a necessary premise for successful end-effector tracking. In addition, this paper proposes a sufficient condition of the control gains for guaranteed asymptotical stability of the controlled robotic system. Numerical simulations have demonstrated the effectiveness of the presented approach, compared to the standard adaptive control.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP150100935
dc.relation.ispartof	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)	en_US
dc.relation.isbasedon	10.1109/WCICA.2018.8630712	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	A Frequency-Limited Adaptive Controller for Underwater Vehicle-Manipulator Systems under Large Wave Disturbances	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2018-July	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	2018-July	en_US

Abstract:

© 2018 IEEE. Standard adaptive control approaches may not be able to sufficiently stabilize underwater vehicle-manipulator systems (UVMSs) when wave disturbances are large, leading to high-frequency oscillations of large amplitude in its dynamic model parameters. Such parameters bring about undesired oscillations in the vehicle body control and state. This paper extends a frequency-limited adaptive control approach to the vehicle body. An auxiliary model is obtained from the approximated model through a low-pass filter and is used to reduce the problematic oscillations. The resultant stable vehicle body is a necessary premise for successful end-effector tracking. In addition, this paper proposes a sufficient condition of the control gains for guaranteed asymptotical stability of the controlled robotic system. Numerical simulations have demonstrated the effectiveness of the presented approach, compared to the standard adaptive control.

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http://hdl.handle.net/10453/131472