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This study presents a novel tracking control scheme for an underwater vehicle-manipulator system (UVMS) where the proposed controller is not only used to track the prescribed sub-region but also allows the use of the self-motion to perform various sub-tasks (i.e. drag minimisation, obstacle avoidance and manipulability) because of the kinematically redundant system. In the proposed control scheme,...
In this paper, a sub-region tracking control scheme is proposed for an Underwater Vehicle-Manipulator System (UVMS). In the proposed controller, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. The unit quaternion representation is utilized to achieve singularity-free attitude tracking control. In addition, due to the kinematically...
This paper presents an adaptive sub-region priority reaching controller with a fuzzy logic algorithm for an underwater vehicle. In this method, the sub-region priority reaching control law is merged with a fuzzy technique to manage the generalization of the underwater vehicle set-point control problem. The fuzzy technique is used to handle multiple sub-region criteria. These criteria are: depth constraint,...
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