2013
DOI: 10.1109/tro.2013.2277535
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A Passivity-Based Model-Free Force–Motion Control of Underwater Vehicle-Manipulator Systems

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Cited by 42 publications
(15 citation statements)
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“…representan el campo de velocidad lineal del fluido alrededor del AUV y (ϑ, ν, ζ,ζ) ∈ R 6 es el wrench de perturbaciones debido a corrientes submarinas tal que desvanece en ζ, es decir (η, ν, 0, 0) = 0, Olguín-Díaz et al (2013). En este trabajo se asume que no hay perturbaciones de este tipo.…”
Section: Modelo Dinámico Del Auv Subactuadounclassified
“…representan el campo de velocidad lineal del fluido alrededor del AUV y (ϑ, ν, ζ,ζ) ∈ R 6 es el wrench de perturbaciones debido a corrientes submarinas tal que desvanece en ζ, es decir (η, ν, 0, 0) = 0, Olguín-Díaz et al (2013). En este trabajo se asume que no hay perturbaciones de este tipo.…”
Section: Modelo Dinámico Del Auv Subactuadounclassified
“…For this paper, we also assume that the ROV-manipulator system is equipped with an adequately-functioning low-level controller, with which we can achieve desired rates for each joint of the manipulators and desired translation/angular velocities of the ROV simultaneously. This may be possible by designing the ROV control law to be robust against the disturbance produced by the manipulator motions by using its redundant actuations (e.g., [21], [22]). See also [23] for dynamic control of general vehicle-manipulator systems.…”
Section: B Rov-manipulator Systemmentioning
confidence: 99%
“…A similar approach was also presented in [2]. A different algorithm, based on passivity concept, is proposed in [15]. The dynamic model of an I-AUV is not needed by the controller and the kinematic constraints arising from the contact with environment are explicitly included when solving for system velocities.…”
Section: Introductionmentioning
confidence: 99%