ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT

Ernesto Olguín-Díaz, Vicente Parra-Vega

Abstract

An advanced, yet simple, controller for submarine robots is proposed to achieve simultaneously tracking of time-varying contact force and posture, without any knowledge of its dynamic parameters. Structural properties of the submarine robot dynamic are used to design passivity-based controllers. A representative simulation study provides additional insight into the closed-loop dynamic properties for regulation and tracking cases. A succinct discussion about inherent properties of the open-loop and closed-loop systems finishes this work.

References

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Paper Citation


in Harvard Style

Olguín-Díaz E. and Parra-Vega V. (2007). ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 19-28. DOI: 10.5220/0001631800190028


in Bibtex Style

@conference{icinco07,
author={Ernesto Olguín-Díaz and Vicente Parra-Vega},
title={ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={19-28},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001631800190028},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ON THE FORCE/POSTURE CONTROL OF A CONSTRAINED SUBMARINE ROBOT
SN - 978-972-8865-83-2
AU - Olguín-Díaz E.
AU - Parra-Vega V.
PY - 2007
SP - 19
EP - 28
DO - 10.5220/0001631800190028