Nonlinear Control of Manipulator Using Multibody Dynamics

Nonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System

This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

Nonlinear control of an underwater vehicle/manipulator with composite dynamics

This paper is devoted to the problem of control design of an underwater vehicle/manipulator (UVM) system composed of a free navigating platform equipped with a robot manipulator. This composite system is driven by actuators and sensors having substantially different bandwidth characteristics due to their nature. Such difference allows for a mathematical setup which can be naturally treated by s...

Dynamics and Control of Multibody Systems

Nonlinear H, Control of Robotic Manipulator

H, control theory for nonlinear systems has been developed, which is based on the concept of the energy dissipation. A nonlinear H, controller using the energy dissipation is designed in the sense of Lagain attenuation from a disturbance to performance and it is essential to find the solution of the Hamilton Jacobi (HJ) equation (or inequality) for application However, it is dificult to obtain ...

Integrator Backstepping Control of a 5 DoF Robot Manipulator with Cascaded Dynamics

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...