モデル誤差抑制補償器を用いた3リンク双腕水中ロボットの位置制御

抄録

We have proposed a resolved acceleration control (RAC) method for underwater vehicle-manipulator systems (UVMS) which is a position control method. The model of UVMS used in the control system has modeling errors in the fluid forces acting on the robot. Therefore, we have proposed a RAC with disturbance observer (DOB) in a previous study, and confirmed its effectiveness. Here, a model error compensator (MEC) that is simpler in structure than DOB and specializes in modeling error and disturbance suppression is proposed. In this paper, we propose a control system of RAC with MEC and show the effectiveness of the control system by simulations using a dual arm underwater robot.