DC Field | Value | Language |
---|---|---|
dc.contributor.author | 유지환 | ko |
dc.contributor.author | 권동수 | ko |
dc.contributor.author | 이판묵 | ko |
dc.contributor.author | 홍석원 | ko |
dc.date.accessioned | 2013-03-02T23:08:26Z | - |
dc.date.available | 2013-03-02T23:08:26Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2000-07 | - |
dc.identifier.citation | 제어.로봇.시스템학회 논문지, v.6, no.7, pp.579 - 586 | - |
dc.identifier.issn | 1225-9853 | - |
dc.identifier.uri | http://hdl.handle.net/10203/75951 | - |
dc.description.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. | - |
dc.language | Korean | - |
dc.publisher | 제어·로봇·시스템학회 | - |
dc.title | 외란 관측기를 바탕으로 H∞ 제어 방법을 이용한 수중 로봇 팔의 원격조종 제어기 설계 | - |
dc.title.alternative | Teleoperation Controller Design for an Underwater Manipulator Using an H∞ Control Scheme Based on Disturbance Observer | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 6 | - |
dc.citation.issue | 7 | - |
dc.citation.beginningpage | 579 | - |
dc.citation.endingpage | 586 | - |
dc.citation.publicationname | 제어.로봇.시스템학회 논문지 | - |
dc.contributor.localauthor | 유지환 | - |
dc.contributor.localauthor | 권동수 | - |
dc.contributor.nonIdAuthor | 이판묵 | - |
dc.contributor.nonIdAuthor | 홍석원 | - |
dc.description.isOpenAccess | N | - |
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