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A 7-function underwater manipulator which is teleoperated by master-slave type is systemically developed. It is mainly comprised of master controller, connection box, slave arm, pressure compensator, valve pack and hydraulic power unit. The slave arm is operated by the master arm, which is fixed on the master controller used to operate, configure, and diagnose the manipulator system and is a miniature...
Design of the underwater manipulator control system is difficult due to the particularity of the work environment, high nonlinearity and strong coupling of the dynamic model. In order to improve fine performance capacity, a new compound control method based on the cerebellar model articulation controller (CMAC) is proposed, and the compound controller based on CMAC is designed. Simulation experiments...
This paper studies the problem of adaptive robust iterative learning control for trajectory-tracked task of a class of robotic systems with both structured and unstructured uncertainties. A composite control scheme is proposed in which the periodic uncertainties are approached by the learning controller, while the effect of non-periodic uncertainties on system performances is attenuated by the robust...
This paper studies the problem of adaptive robust iterative learning control for trajectory-tracked task of a class of robotic systems with both structured and unstructured uncertainties. A composite control scheme is proposed in which the periodic uncertainties are approached by the learning controller, while the effect of non-periodic uncertainties on system performances is attenuated by the robust...
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