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Tao Jiang, Yize Sun, Hai Huang, Hongde Qin, Xi Chen, Lingyu Li, Zongyu Zhang and Xinyue Han
Autonomous underwater manipulation is very important for the robotic and intelligence operations of oceanic engineering. However, a small target often involves limited features and results in inaccurate visual matching. In order to improve visual measure...
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Gang Xue, Yanjun Liu, Zhenjie Shi, Lei Guo and Zhitong Li
In order to improve the trajectory tracking accuracy of an Underwater Vehicle Manipulator System (UVMS) under uncertain disturbance conditions of ocean current, a Model-free Adaptive Control (MFAC) method was used. Combined with Radial Basis Function Neu...
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Ningning Ding, Yuangui Tang, Zhibin Jiang, Yunfei Bai and Shixun Liang
This paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) e...
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Zongyu Chang, Yang Zhang, Zhongqiang Zheng, Lin Zhao and Kunfan Shen
Underwater vehicle-manipulator system (UVMS) can be applied to fulfill different complex underwater tasks such as grasping, drilling, sampling, etc. It is widely used in the field of oceanographic research, marine exploration, military, and commercial ap...
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Lijun Han, Guoyuan Tang, Maolin Cheng, Hui Huang and De Xie
An adaptive nonsingular fast terminal sliding mode control scheme with extended state observer (ESO) is proposed for the trajectory tracking of an underwater vehicle-manipulator system (UVMS), where the system is subjected to the lumped disturbances asso...
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Han Han, Yanhui Wei, Xiufen Ye and Wenzhi Liu
This paper presents new motion planning and robust coordinated control schemes for trajectory tracking of the underwater vehicle-manipulator system (UVMS) subjected to model uncertainties, time-varying external disturbances, payload and sensory noises. A...
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Corina Barbalata, Matthew W. Dunnigan and Yvan Petillot
Autonomous interaction with the underwater environment has increased the interest of scientists in the study of control structures for lightweight underwater vehicle-manipulator systems. This paper presents an essential comparison between two different s...
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