Adaptive Control for Underwater Vehicle-Manipulator System based on Fuzzy CMAC Neural Networks
文献类型：会议论文
| 作者 | Zhang QF(张奇峰) ; Zhang AQ(张艾群)
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| 出版日期 | 2009 |
| 会议名称 | The IASTED International Conference on Modeling, Simulation and Identification |
| 会议日期 | October 12-14, 2009 |
| 会议地点 | Beijing, China |
| 关键词 | CMAC underwater vehicle-manipulator system adaptive control |
| 页码 | 3710-3714 |
| 中文摘要 | Underwater Vehicle-Manipulator System (UVMS) is a multi-body system with float base. It is difficult to control the vehicle for its dynamic uncertainty and the multi-joint manipulator’s disturbances. Due to it is not easy to get the manipulator’s hydrodynamics and vehicle’s propeller model, an adaptive controller based fuzzy CMAC is proposed. The neural network’s inputs are motion status of vehicle and manipulator, and its outputs are the control voltage of the vehicle’s propellers. The control errors are decreasing by the controller’s self-study with the disturbances of the manipulator. The paper presents the controller’s design and stability analysis. To improve the robustness of the controller, input compensation is added. Experiment results demonstrate the effectiveness of the proposed controller. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | The IASTED International Conference on Modeling, Simulation and Identification
 |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/7795]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Zhang QF,Zhang AQ. Adaptive Control for Underwater Vehicle-Manipulator System based on Fuzzy CMAC Neural Networks[C]. 见:The IASTED International Conference on Modeling, Simulation and Identification. Beijing, China. October 12-14, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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