Motion Control of underwater vehicle-manipulator systems using feedback linearization

Abstract

In this paper control of underwater vehicle-manipulator systems using feedback linearization has been studied. Performance, robustness and energy consumption of the system depend on the choice of output variables, these output variables can be chosen in several ways. In this paper two alternatives have been analysed by simulations, decoupling of the manipulator end-effector velocities from the vehicle velocities and from the total system momentum. The performance is almost the same for the two choices of decoupling schemes while robustness and energy consumption of the system depend on the accuracy of the dynamic model.

Keywords

• Underwater robotics