Motion Control of Unconstrained Robot in Water using Disturbance Compensation Control Method

Abstract

In recent years, disturbance compensation control (DCC) which estimates and compensates a disturbance torque caused by the modelling errors of the system has been actively studied for motion control of ground and space robots. In this paper, this DCC is applied to the motion control of an unconstrained robot in water, regarding fluid force as a disturbance, and its effectiveness is considered by computer simulations. As a result, it was made clear that the DCC is very useful for the motion control of an unconstrained robot in water, because the fluid reaction forces which are very difficult to estimate can be regarded as disturbances, and also that a low-pass filter is useful for the measurement of noise to estimate the disturbance torque which is equal to the minimum-order observer using the Gopinath method.