Digital Control of an Underwater Robot with Vertical Planar 2-Link Manipulator

MiResolved Acceleration Control for Underwater Vehicle-Manipulator Systems: Continuous and Discrete Time Approach

“…In practical systems digital computers are utilized for controllers, but there is no discretetime control method for UVMS except our proposed methods (Sagara, 2003;Sagara et al, 2004;Sagara et al, 2006;Yatoh & Sagara, 2008). In this section, we address discrete time RAC methods including the ways of disturbance compensation of the vehicle and avoidance of singular configuration of the manipulator.…”