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https://dspace.iiti.ac.in/handle/123456789/6871
| Title: | A nonlinear disturbance observer based adaptive control scheme for an underwater manipulator |
| Authors: | Mohan, Santhakumar |
| Keywords: | Adaptive Control;Disturbance observer;Non-linear estimation;Tracking controls;Underwater manipulator;Adaptive control systems;Linear systems;Manipulators;Manufacture;Navigation;Robotics;Observability |
| Issue Date: | 2012 |
| Citation: | Mohan, S. (2012). A nonlinear disturbance observer based adaptive control scheme for an underwater manipulator doi:10.1007/978-3-642-35197-6_2 |
| Abstract: | 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. © 2012 Springer-Verlag. |
| URI: | https://doi.org/10.1007/978-3-642-35197-6_2 https://dspace.iiti.ac.in/handle/123456789/6871 |
| ISBN: | 9783642351969 |
| ISSN: | 1865-0929 |
| Type of Material: | Conference Paper |
| Appears in Collections: | Department of Mechanical Engineering |
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