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On Modeling and Adaptive Control of Underwater Robots

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Systems, Models and Feedback: Theory and Applications

Part of the book series: Progress in Systems and Control Theory ((PSCT,volume 12))

Abstract

In this paper issues relating to modeling of underwater vehicles and manipulators are discussed. The dynamic modeling procedure enables inclusion of effects of buoyancy and viscous friction on the robot. A regressor is identified and it relates robot torques to a vector of unknown dynamic parameters of the arm and properties of the underwater environment like density and viscocity. An adaptive control scheme for task level servo to achieve free trajectory tracking is discussed.

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Author information

Authors and Affiliations

  1. Washington University, Campus Box 1040, St. Louis, Missouri, 63130, USA

    A. K. Ramadorai & T. J. Tarn

Authors
  1. A. K. Ramadorai
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  2. T. J. Tarn
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Editor information

Editors and Affiliations

  1. Department of Computer and Systems Science, Università di Roma “La Sapienza”, 00184, Rome, Italy

    Albert Isidori

  2. Department of Systems Sciences and Mathematics, Washington University, 63130, St. Louis, MO, USA

    Tzyh-Jong Tarn

Additional information

This paper is dedicated to Professor Antonio Ruberti.

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© 1992 Springer Science+Business Media New York

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Ramadorai, A.K., Tarn, T.J. (1992). On Modeling and Adaptive Control of Underwater Robots. In: Isidori, A., Tarn, TJ. (eds) Systems, Models and Feedback: Theory and Applications. Progress in Systems and Control Theory, vol 12. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4757-2204-8_4

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  • DOI: https://doi.org/10.1007/978-1-4757-2204-8_4

  • Publisher Name: Birkhäuser, Boston, MA

  • Print ISBN: 978-1-4757-2206-2

  • Online ISBN: 978-1-4757-2204-8

  • eBook Packages: Springer Book Archive

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