What is it about?

The purpose of this study is to control the position of an underactuated underwater vehicle manipulator system (U‐UVMS). The underactuated underwater vehicle redundant manipulator system is modeled including the hydrodynamic forces for the manipulator in addition to those for the autonomous underwater vehicle (AUV). In order to establish the end‐effector trajectory tracking control of the system, an inverse dynamics control law is formulated.

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Why is it important?

The effectiveness of the control law even in the presence of parameter uncertainties and disturbing ocean currents is illustrated by simulations.

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This page is a summary of: Trajectory Tracking Control of an Underactuated Underwater Vehicle Redundant Manipulator System, Asian Journal of Control, April 2016, Wiley,
DOI: 10.1002/asjc.1291.
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