Underwater robots. Motion and force control of vehicle-manipulator systems.

zbMath1049.93001MaRDI QIDQ1394749

Gianluca Antonelli

Publication date: 24 June 2003

Published in: Springer Tracts in Advanced Robotics (Search for Journal in Brave)

zbMATH Keywords

sliding modeadaptive controllerforce controlmanipulation tasksunderwater robotskinematic redundancyLyapunov stability techniquenonlinear hydrodynamic effectsrigid body moving in a fluid

Mathematics Subject Classification ID

Application models in control theory (93C95) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Control of mechanical systems (70Q05) Variable structure systems (93B12)

Related Items (4)

Spiral transitions ⋮ Vehicle-manipulator system dynamic modeling and control for underwater autonomous manipulation ⋮ Fault-tolerant region-based control of an underwater vehicle with kinematically redundant thrusters ⋮ Modelling and Adaptive Control of an Underwater Vehicle System: A Multibody System Approach

Cites Work

• Stability of a bottom-heavy underwater vehicle
• Asymptotic stabilization of some equilibria of an underactuated underwater vehicle

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