This paper presents a new tracking control scheme for an underwater vehicle-manipulator system (UVMS). The proposed task space passivity based controller is not only used to track the given desired path but also allows the use of the self-motion of the vehicle to perform power efficient trajectory because of its kinematically redundant nature. In the proposed scheme, the primary task is to trac...

An indirect adaptive control for an autonomous underwater vehiclemanipulator system (UVMS) based on an extended Kalman filter (EKF) is presented in this paper. This method overcomes the disadvantages of existing disturbance observers and direct adaptive control schemes, which are designed or analyzed by linear system techniques and regressor-based techniques. The proposed control scheme can be ...

A method for the fast approximation of dexterity indices for given underwater vehicle-manipulator systems (UVMS) configurations is presented. Common underwater tasks are associated with two wellknown dexterity indices and two types of neural networks are designed and trained to approximate each one of them. The method avoids the lengthy calculation of the Jacobian, its determinant and the compu...

Among the underwater robotic systems that are currently available, remotely operated vehicles (ROVs) are the most commonly used underwater robotic systems. A ROV is an underwater vehicle that is controlled from a mother-ship by human operators. Sometimes a ROV is equipped with one or more robotic manipulators to perform underwater tasks. These robotic manipulators are also controlled by human o...

Among the underwater robotic systems that are currently available, remotely operated vehicles (ROVs) are the most commonly used underwater robotic systems. A ROV is an underwater vehicle that is controlled from a mother-ship by human operators. Sometimes a ROV is equipped with one or more robotic manipulators to perform underwater tasks. These robotic manipulators are also controlled by human o...

An improved Time Delay Control (TDC) method for an Underwater Vehicle-Manipulator System (UVMS) is proposed. The proposed controller consists of three terms: a time-delay-estimation term that cancels nonlinearities of the UVMS dynamics, a Terminal Sliding Mode (TSM) term that provides a fast response and a PID term that reduces the tracking error. In addition the proposed controller uses fuzzy ...

This paper proposes an adaptive robust control scheme for an Underwater-Vehicle Manipulator System (UVMS). The proposed controller enables the tracking of the intersection of multiple local sub-regions that are assigned for each subsystem of a UVMS under the influence of modelling uncertainties as well as additive disturbances. The presence of variable ocean currents creates hydrodynamic forces...

Underwater vehicle-manipulator system (UVMS) can be applied to fulfill different complex underwater tasks such as grasping, drilling, sampling, etc. It is widely used in the field of oceanographic research, marine exploration, military, and commercial applications. In this paper, dynamic simulation UVMS presented process grasping an object. First, model UVMS, which considers change load manipul...

Underwater robots, especially Underwater Vehicle-Manipulator Systems (UVMS), are expected to have important roles in ocean exploration (Yuh, 1995). Many studies about dynamics and control of UVMS have been reported (Maheshi et al., 1991; McMillan et al., 1995; McLain et al., 1996; Tarn et al., 1996; Antonelli & Chiaverini, 1998; McLain et al., 1998; Antonelli et al., 2000; Sarkar & Podder, 2001...

In order to improve the trajectory tracking accuracy of an Underwater Vehicle Manipulator System (UVMS) under uncertain disturbance conditions ocean current, a Model-free Adaptive Control (MFAC) method was used. Combined with Radial Basis Function Neural Networks (RBFNN), RBFNN-MFAC is proposed performance controller. A hydrodynamic model UVMS defined in commercial software, Fluent, calculate h...