This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

This paper presents a control scheme for obtaining high maneuverability of underwater robot manipulators mounted on a remotely operated vehicle (ROV). The motions of an underwater manipulator can affect the attitude and position of the ROV which should remain stationary in seabed operation. To compensate for the dynamic effect of the underwater manipulator on the ROV, force-torque (F/T) informa...

Autonomous docking using underwater vehicles will play an important role in long-term underwater explorations and surveys. The autonomous docking mission for an autonomous underwater vehicle at a stationary platform involves a vehicle and a platform matching both position, orientation and velocity. The docking missions therefore require intelligent control systems for precise and soft operation...

This paper presents a control scheme,for obtaining high maneuverability of underwater robot manipulators mounted on a remotely operated vehicle (ROV). The motions of an underwater manipulator can aflect the attitude and position of the ROV which should remain stationary in seabed operation. To compensate for the dynamic effect of the underwater manipulator on the ROY force-torque (F/T) informat...

Abstarct In this paper, a new approach to optimize an Autonomous Underwater Vehicle (AUV) hull geometry is presented. Using this methode, the nose and tail of an underwater vehicle are designed, such that their length constraints due to the arrangement of different components in the AUV body are properly addressed. In the current study, an optimal design for the body profile of a torpedo-shaped...

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic intervention operations that require physical interact...

Many aerospace engineers with an expertise in flight control system design, if tasked with designing a guidance system for an underwater vehicle, would dismiss the problem as easily solvable. To aerospace engineers, underwater vehicles are thought to be nothing more than powered blimps, which have been flying since 1852, when Henri Giffard built the first powered airship, a 143-ft long, cigar-s...

This paper reports the development and preliminary experimental evaluation of a model-aided inertial navigation system (INS) for underwater vehicles. The implemented navigation system exploits accurate knowledge of the vehicle dynamics through an experimentally validated mathematical model, relating the water-relative velocity of the vehicle to the forces and moments acting upon it. Together wi...

A composite robust control scheme is proposed by combining a sliding mode controller with an adaptive fuzzy control algorithm to control a 3-DOF underactuated underwater vehicle with model parameter perturbations and environmental disturbances based on the backstepping control method and the Lyapunov stability theory. The adaptive fuzzy control algorithm is employed to compensate for model para...