Dynamic robust path-following control of UVMS subject to manipulator disturbance

• Published in: Journal of physics. Conference series Vol. 2718; no. 1; pp. 12056 - 12064
• Main Authors: Jiao, Huifeng, Wang, Guanhua, Wang, Yintao, Mao, Zhaoyong
• Format: Journal Article
• Language: English
• Published: Bristol IOP Publishing 01.03.2024
• Subjects: Adaptive control; Control methods; Coupling; Disturbances; Manipulators; Robot arms; Robust control; Sliding mode control; Underwater vehicles

This study addresses path-following control issue of underwater vehicle-manipulator systems (UVMS) in the presence of manipulator disturbances. It considers disturbance forces arising from manipulator position changes, including restorative forces and coupling forces, to achieve precise UVMS path-fo...