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A Heuristic Approach towards Path Planning and Obstacle Avoidance Control of Planar Manipulator Read chapter Read first chapter

2012 | OriginalPaper | Chapter

A Nonlinear Disturbance Observer Based Adaptive Control Scheme for an Underwater Manipulator

Author : Santhakumar Mohan

Published in: Trends in Intelligent Robotics, Automation, and Manufacturing

Publisher: Springer Berlin Heidelberg

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A new nonlinear disturbance observer based tracking control scheme for an underwater manipulator is presented in this paper. This observer overcomes the disadvantages of existing disturbance observers, which are designed or analyzed by the linear system techniques. The performance of the proposed tracking control scheme is demonstrated numerically by the payload compensation and interaction effects compensation for a two degrees of freedom vertical underwater manipulator.

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previous chapter A Heuristic Approach towards Path Planning and Obstacle Avoidance Control of Planar Manipulator
next chapter Obstacle Avoidance Using Multi-Point Potential Field Approach for an Underactuated Flat-Fish Type AUV in Dynamic Environment
Metadata
Title
A Nonlinear Disturbance Observer Based Adaptive Control Scheme for an Underwater Manipulator
Author
Santhakumar Mohan
Copyright Year
2012
Publisher
Springer Berlin Heidelberg
Book
Trends in Intelligent Robotics, Automation, and Manufacturing

Print ISBN: 978-3-642-35196-9

Electronic ISBN: 978-3-642-35197-6

Copyright Year: 2012

DOI
https://doi.org/10.1007/978-3-642-35197-6_2

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