Nonlinear control of an underwater vehicle/manipulator with composite dynamics

  title={Nonlinear control of an underwater vehicle/manipulator with composite dynamics},
  author={Carlos Canudas de Wit and Ernesto Olgu{\'i}n D{\'i}az and Michel Perrier},
  journal={IEEE Trans. Contr. Sys. Techn.},
|This paper is devoted to the problem of control design of an underwater vehicle/manipulator (UVM) system composed of a free navigating platform equipped with a robot manipulator. This composite system is driven by actuators and sensors having substantially di erent bandwidth characteristics due to their nature. Such di erence allows for a mathematical setup which can be naturally treated by standard singular perturbation theory. On the basis of this analysis, two control laws are proposed. The… CONTINUE READING
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