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To solve the trajectory tracking control problem of underwater vehicle-manipulator system (UVMS) under strong nonlinear couplings and complex parametric uncertainties and unknown external disturbance, a nonlinear robust control method based on time delay estimation (TDE) was proposed and investigated in this paper. The core idea of this method is that builds the basic architecture of the controller...
A new nonlinear robust control scheme is proposed and investigated for the trajectory tracking control problem of an underwater vehicle-manipulator system (UVMS) using the discrete time delay estimation (DTDE) technique. The proposed control scheme mainly has two parts: the DTDE part and the desired dynamics part. The former one is applied to properly estimate and compensate the complex unknown lumped...
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