Adaptive tracking control of underwater vehicle-manipulator systems based on the virtual decomposition approach

IEEE Transactions on Robotics and Automation

Volumn 20, Issue 3, 2004, Pages 594-602

  Antonelli, Gianluca ^a   Caccavale, Fabrizio ^b   Chiaverini, Stefano ^a  

^a UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

^b UNIVERSITY OF BASILICATA   (Italy)

Author keywords

Adaptive control; Control of redundant manipulators; Underwater robotics; Virtual decomposition control

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; ALGORITHMS; COMPUTER ARCHITECTURE; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; INVERSE KINEMATICS; ROBOTICS; THREE TERM CONTROL SYSTEMS;

CONTROL SOFTWARE DESIGN; JACOBIAN MATRIX; UNDERWATER VEHICLE-MANIPULATOR SYSTEMS; VIRTUAL DECOMPOSITION;

MANIPULATORS;

EID: 2942750443     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2004.825521     Document Type: Article

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