외란 관측기를 바탕으로 H∞ 제어 방법을 이용한 수중 로봇 팔의 원격조종 제어기 설계

Abstract

This Paper Presents a robust and systematic bilateral controller design method for a teleoperation of an underwater manipulator. Disturbance observer is used as a local controller of the master and underwater slave manipulator to set up the teleoperation system as a nominal model by compensating coupled nonlinear terms, model uncertainties and external disturbances in the water. Using the linearized master/slave model, a H∞ optimal control scheme is applied to systematically construct a force reflecting bilateral controller.