This paper investigates the performance of a new robust tracking control on the basis of proportional-derivative observer-based backstepping control applied on a three degrees of freedom underwater spatial manipulator. Hydrodynamic forces and moments such as added mass effects, damping effects, and restoring effects can be large and have a significant effect on the dynamic performance of the un...

The paper surveys recent advances in underwater vehicle navigation and identifies future research challenges. Improvements in underwater navigation sensor technology and underwater navigation algorithms are enabling novel underwater vehicles and novel underwater vehicle missions. This paper first reviews advances in underwater navigation sensor technology. Second, advances in deterministic and ...

ABSTRACT Two recently developed motion control algorithms for mobile manipulators are applied to an experimental system. The manipulator motions induce significant dynamic interactions with its vehicle and suspension. A conventional fixed-base controller, which typically neglects these dynamic interactions, is shown to lead to poor performance. Both mobile manipulator control algorithms, howeve...

The purpose of a data acquisition system is to provide reliable and timely information. The received information can be then analyzed in real-time or remotely to assess the state of the measured environment. Similarly, for an autonomous underwater navigation system it is critical to analyze the data received from the inertial measurement unit and other acoustic sensors to calculate its position...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

The applications of underwater vehicles have shown a dramatic increase in recent years, such as, mines clearing operation, feature tracking, cable or pipeline tracking and deep ocean exploration. According to different applications, the mechanical and electrical configuration and shape of an underwater vehicle are different. For instance, manipulators are necessary when doing mines clearing ope...

Task control for underactuated redundant articulated robotic systems is addressed in this paper. In failed ground robots, as well as in aerial or underwater vehicle-manipulator systems, the unactuated degrees of freedom generally affect the task space variables to be controlled, and thus must be properly taken into account in the formulation of the control law. Within a multiple task-priority p...