Singularity-free regulation of underwater vehicle-manipulator systems

Proceedings of the American Control Conference

Volumn 1, Issue , 1998, Pages 399-403

  Antonelli, Gianluca ^a   Chiaverini, Stefano ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL LAWS; CONTROL SCHEMES; ERROR CONVERGENCE; KINEMATIC SINGULARITY; REGULATION PROBLEMS; SINGULARITY-FREE; SLIDING MODES; UNDERWATER VEHICLE MANIPULATOR SYSTEMS;

ATTITUDE CONTROL;

UNDERWATER EQUIPMENT;

EID: 84881351997     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.1998.694699     Document Type: Conference Paper

References (12)

1. T. Fossen, "Adaptive Macro-Micro Control of Nonlinear Underwater Robotic Systems," Proc. of the 5th Int. Conf. on Advanced Robotics, Pisa, Italy, pp. 1569-1572, 1991.
2. I. Schjølberg and T. Fossen, "Modelling and Control of Underwater Vehicle-Manipulator Systems," Proc. 3rd Conf. on Marine Craft Maneuvering and Control), Southampton, UK, pp. 45-57, Sept. 1994.
3. H. Mahesh, J. Yuh, and R. Lakshmi, "A Coordinated Control of an Underwater Vehicle and Robotic Manipulator," J. of Robotic Systems, 8(3)339-370, 1991.
4. T.W. McLain, S.M. Rock, and M.J. Lee, "Experiments in the Coordinated Control of an Underwater Arm/Vehicle System," in Autonomous Robots, J. Yuh, T. Ura, G.A. Bekey (Eds.), Kluwer Academic Publishers, pp. 213-232, 1996.
5. O. Fjellstad and T. Fossen, "Singularity-Free Tracking of Unmanned Underwater Vehicles in 6 DOF," Proc. of the 33rd IEEE Conf. on Decision and Control, Florida, USA, Dec. 1994.
6. O. Egeland and J.H. Godhavn, "Passivity-Based Adaptive Attitude Control of a Rigid Spacecraft," IEEE Trans. on Automatic Control, 39(4)842-845, 1994.
7. J.J. Slotine and M.D.D. Benedetto, "Hamiltonian Adaptive Control of Spacecraft," IEEE Trans. on Automatic Control, 35(7)848-852, 1990.
8. T. Fossen, Guidance and Control of Ocean Vehicles, John Wiley & Sons, Chichester, UK, 1994.
9. O. Fjellstad and T. Fossen, "Position and Attitude Tracking of AUVs: A Quaternion Feedback Approach," IEEE J. of Oceanic Engineering, 19(4)512-518, 1994.
10. G. Antonelli, "SIMURV, Simulator of Underwater Robotic Systems," PRISMA Tech. Rep. 97-03, Napoli, I, 1997.
11. A.J. Healey and D. Lienard, "Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles," IEEE J. Oceanic Engineering, 18(3)327-339, 1993.
12. J.J. Slotine and Li, Applied Nonlinear Control, Prentice-Hall International Editions, USA, 1991.